A Multilevel Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning

Hao Chen, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada

IEEE Transactions on Robotics　Vol. 41　p. 500-519　2025/07　Research paper (scientific journal)

Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning

Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada

Proceedings of IEEE International Conference on Robotics and Automation　p. 14059-14065　2025/05　Research paper (international conference proceedings)

Functional Eigen-Grasping Using Approach Heatmaps

Malek Aburub, Kazuki Higashi, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 10　No. 4　p. 3771-3778　2025/03　Research paper (scientific journal)

Surface Stiffness Estimation using Active Strobe Imager

Taiki Yamaguchi, Kensuke Harada, Koji Mizoue, Makoto Kaneko

Proceedings of International Conference on Artificial Life and Robotics　p. 433-439　2025/02

Painting Task Planning for Large Structure using a Mobile Manipulator

Hiroshi Tanaka, Masato Tsuru, Takuya Kiyokawa, Kensuke Harada

Proceedings of International Conference on Artificial Life and Robotics　p. 440-444　2025/02

Image-Based Tactile Deformation Simulation and Pose Estimation for Robot Skill Learning

Chenfeng Fu, Longnan Li, Yuan Gao, Weiwei Wan, Kensuke Harada, Zhenyu Lu, Chenguang Yang

Applied Sciences　Vol. 15　No. 3　2025/01/22　Research paper (scientific journal)

Bin-Picking of Small Objects Using Compliant Finger with Proximity Sensor

Michihisa Ohara, Keisuke Koyama, Kensuke Harada

Proceedings of IEEE/SICE International Symposium on System Integration　p. 1447-1453　2025/01

Vision-based Robotic Assembly from Novel Graphical Instructions

Chenxi Wang, Zhenting Wang, Takuya Kiyokawa, Weiwei Wan, Natsuki Yamanobe, Kensuke Harada

Proceedings of IEEE/SICE International Symposium on System Integration　p. 1221-1228　2025/01

Design, Fabrication, and Testing of a Chain Mail Jamming-Based Stiffness-Changeable Robotic Supporter

Abdullah Ahmed, Zhengtao Hu, Weiwei Wan, Tetsuyou Watanabe, Jianjun Yuan, Kensuke Harada

IEEE/ASME Transactions on Mechatronics　2025/01　Research paper (scientific journal)

Active Vapor-Based Robotic Wiper

Takuya Kiyokawa, Hiroki Katayama, Jun Takamatsu, Kensuke Harada

Proceedings of IEEE International Conference on Robotic Computing　p. 245-248　2024/12

Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions

Takuya Kiyokawa, Mahiro Muta, Weiwei Wan, Kensuke Harada

Proceedings of IEEE International Conference on Robotic Computing　p. 170-173　2024/12

Deformability-Based Grasp Pose Detection From a Visible Image

Koshi Makihara, Yukiyasu Domae, Ryo Hanai, Ixchel G. Ramirez-Alpizar, Hirokatsu Kataoka, Kensuke Harada

IEEE Access　Vol. 12　p. 190640-190649　2024/12　Research paper (scientific journal)

Robotic Experiment for Chemical Stimulation on Single-leaf Samples in Plant Biology

Junbo Zhang, Weiwei Wan, Nobuyuki Tanaka, Miki Fujita, Koichi Takahashi, Kensuke Harada

JSME The 8th International Conference on Advanced Mechatronics　2024/11

Synergy Hand using Fluid Network: Realization of Various Grasping/Manipulation Styles

Kazuki Higashi, Keisuke Koyama, Fanny Ficuciello, Ryuta Ozawa, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 12　p. 164966-164978　2024/11　Research paper (scientific journal)

Assembly Task Allocation for Human-Robot Collaboration Considering Stability and Assembly Complexity

Zhenting Wang, Takuya Kiyokawa, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 12　p. 159821-159832　2024/11　Research paper (scientific journal)

Development of a Miniature Photometric Vision-Based Tactile Sensor

Yuan Gao, Shixin Zhang, Weiwei Wan, Bin Fang, Fuchun Sun, Kensuke Harada

IEEE Sensors Journal　Vol. 24　No. 20　p. 32053-32064　2024/10　Research paper (scientific journal)

Integrating a Pipette Into a Robot Manipulator With Uncalibrated Vision and TCP for Liquid Handling

Junbo Zhang, Weiwei Wan, Nobuyuki Tanaka, Miki Fujita, Koichi Takahashi, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 21　No. 4　p. 5503-5522　2024/10　Research paper (scientific journal)

Component Selection for Craft Assembly Tasks

Vitor H. Isume, Takuya Kiyokawa, Natsuki Yamanobe, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 9　No. 9　p. 8122-8129　2024/09　Research paper (scientific journal)

CAD-Informed Uncertainty-Aware Contact Serquence and Motion Planning for Robotic Assembly

Takuya Kiyokawa, Ismael Rodrigues, Korbinian Nottensteiner, Peter Lehner, Thomas Eiband, Maximo A. Roa-Garzon, Kensuke Harada

Proceedings of IEEE International Conference on Automation, Science and Engineering　2024/08

Automatically Prepare Training Data for YOLO Using Robotic In-Hand Observation and Synthesis

Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 21　No. 3　p. 4876-4892　2024/07　Research paper (scientific journal)

TAMP for 3D Curving—A Low-Payload Robot Arm Works Aside a Bending Machine to Curve High-Stiffness Metal Wires

Ruishuang Liu, Weiwei Wan, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 21　No. 3　p. 4703-4719　2024/07　Research paper (scientific journal)

A closed-loop bin picking system for entangled wire harnesses using bimanual and dynamic manipulation

Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

Robotics and Computer-Integrated Manufacturing　Vol. 86　p. 102670-102670　2024/04　Research paper (scientific journal)

NBV/NBC Planning Considering Confidence Obtained From Shape Completion Learning

Ruishuang Liu, Chuan Li, Weiwei Wan, Jia Pan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 9　No. 3　p. 2774-2781　2024/03　Research paper (scientific journal)

Evaluation Standard of Error Recovery Planning Focused on Revival Process from Failures in Robotic Manufacturing Plants

Akira Nakamura, Kensuke Harada

Proceedings of International Conference on Artificial Life and Robotics　p. 399-404　2024/02

Robotic Food Handling Utilizing Temperature Dependent Variable-Stiffness Material

Rozilyn Marco, Prashant Kumar, Xinyi Zhang, Weiwei Wan, Kensuke Harada

Proceedings of International Conference on Artificial Life and Robotics　p. 405-410　2024/02　Research paper (international conference proceedings)

Industrial Bin Picking of Potential Entangled Objects in Dense Clutter by Skeletonized Shape Restoration

Mizuki Takasu, Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

Springer Proceedings in Advanced Robotics　Vol. 30　p. 143-152　2024　Research paper (international conference proceedings)

Compliant Peg-in-Hole Assembly Using a Very Soft Wrist

Qi Zhang, Zhengtao Hu, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 9　No. 1　p. 17-24　2024/01　Research paper (scientific journal)

Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture

Zhengtao Hu, Weiwei Wan, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 21　No. 1　p. 652-670　2024/01　Research paper (scientific journal)

Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration

Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 11　p. 129258-129268　2023/12　Research paper (scientific journal)

Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review

Takuya Kiyokawa, Naoki Shirakura, Zhenting Wang, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Kensuke Harada

Robotics and Computer-Integrated Manufacturing　Vol. 84　p. 102598-102598　2023/12　Research paper (scientific journal)

Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap

Masato Tsuru, Adrien Escande, Iori Kumagai, Masaki Murooka, Kensuke Harada

Sensors　Vol. 23　No. 21　p. 8837-8837　2023/10/30　Research paper (scientific journal)

Probabilistic Slide-Support Manipulation Planning in Clutter

Shusei Nagato, Tomohiro Motoda, Takao Nishi, Petit Damien, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2023/10/02

A Dual-Arm Robot That Manipulates Heavy Plates With the Support of a Vacuum Lifter

Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 20　No. 4　p. 2808-2821　2023/10　Research paper (scientific journal)

M3R-CNN: on effective multi-modal fusion of RGB and depth cues for instance segmentation in bin-picking

Takao Nishi, Shinya Kawasaki, Kosuke Iewaki, Fumio Okura, Damien Petit, Yoichi Takano, Kensuke Harada

Advanced Robotics　Vol. 37　No. 18　p. 1143-1157　2023/09/17　Research paper (scientific journal)

Error Correction in Robotic Assembly Planning from Graphical Instruction Manuals

Zhenting Wang, Takuya Kiyokawa, Issei Sera, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 11　p. 107276-107286　2023/09　Research paper (scientific journal)

把持物体のオントロジーを用いた未知物体の把持

Hao Chen, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada

日本ロボット学会誌　Vol. 41　No. 7　p. 643-646　2023/09　Research paper (scientific journal)

Planning Dense Object Packing by Pushing Objects

Kazuki Iwao, Takao Nishi, Takuya Kiyokawa, Damien Petit, Weiwei Wan, Kensuke Harada

Proceedings of IEEE International Conference on Automation, Science and Engineering　2023/08/26　Research paper (international conference proceedings)

Learning to Dexterously Pick or Separate Tangled-Prone Objects for Industrial Bin Picking

Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 8　No. 8　p. 4919-4926　2023/08　Research paper (scientific journal)

Implicit contact-rich manipulation planning for a manipulator with insufficient payload

Kento Nakatsuru, Weiwei Wan, Kensuke Harada

Robotic Intelligence and Automation　2023/07/03　Research paper (scientific journal)

Synergy-switchable Finger-shaped Wearable Assistive Robot -Realization of Cooperative Operation with Multiple Fingers-

山本純也, 東和樹, 小山佳祐, 清川拓哉, Wan Weiwei, 原田研介

日本ロボット学会誌　Vol. 41　No. 6　p. 569-572　2023/07　Research paper (scientific journal)

Obtaining an Object’s 3D Model Using Dual-Arm Robotic Manipulation and Stationary Depth Sensing

Sho Kobayashi, Weiwei Wan, Takuya Kiyokawa, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 20　No. 3　p. 2075-2087　2023/07　Research paper (scientific journal)

Active Strobe Imager That Can Measure Mechanical Impedance by using Inphase Operational Mode

Taiki Yamaguchi, Osamu Fukuda, Hideaki Ito, Kensuke Harada, Makoto Kaneko

Proceedings of the 22nd International Conference on Solid-state Sensors, Actuators and Microsystems　p. 983-986　2023/06　Research paper (international conference proceedings)

A Stifness-Changeable Soft Finger Based on Chain Mail Jamming

Zhengtao Hu, Abdullah Ahmed, Weiwei Wan, Tetsuyou Watanabe, Kensuke Harada

Proceedings of IEEE International Conference on Robotics and Automation　p. 7405-7411　2023/05　Research paper (international conference proceedings)

In-Rack Test Tube Pose Estimation Using RGB-D Data

Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada

2023 IEEE International Conference on Robotics and Biomimetics, ROBIO 2023　2023　Research paper (international conference proceedings)

Acquisition of Synergy for Low-dimensional Control of Multi-fingered Hands by Reinforcement Learning

Kazuki Higashi, Tomohiro Motoda, Akiyoshi Hara, Kensuke Harada

Proceedings of International Conference on Artificial Life and Robotics　p. 385-388　2023　Research paper (international conference proceedings)

Multi-Step Object Extraction Planning From Clutter Based on Support Relations

Tomohiro Motoda, Damien Petit, Takao Nishi, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 11　p. 45129-45139　2023　Research paper (scientific journal)

In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors

Yuan Gao, Shogo Matsuoka, Weiwei Wan, Takuya Kiyokawa, Keisuke Koyama, Kensuke Harada

IEEE Access　Vol. 11　p. 17218-17232　2023　Research paper (scientific journal)

Body Extension by Using Two Mobile Manipulators

Yusuke Hirao, Weiwei Wan, Dimitrios Kanoulas, Kensuke Harada

Cyborg and Bionic Systems　Vol. 4　2023/01　Research paper (scientific journal)

Learning Efficient Policies for Picking Entangled Wire Harnesses: An Approach to Industrial Bin Picking

Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 8　No. 1　p. 73-80　2023/01　Research paper (scientific journal)

Team O2AC at the world robot summit 2020: towards jigless, high-precision assembly

Felix von Drigalski, Cristian C. Beltran-Hernandez, Chisato Nakashima, Zhengtao Hu, Shuichi Akizuki, Toshio Ueshiba, Manabu Hashimoto, Kazumi Kasaura, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

Advanced Robotics　p. 1-15　2022/11/18　Research paper (scientific journal)

Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe

Kota Takata, Takuya Kiyokawa, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Kensuke Harada

Robotics　Vol. 11　No. 6　p. 123-123　2022/11/11　Research paper (scientific journal)

Metal Wire Manipulation Planning for 3D Curving – How a Low Payload Robot Can Use a Bending Machine to Bend Stiff Metal Wire

Ruishuang Liu, Weiwei Wan, Emiko Isomura, Kensuke Harada

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems　p. 8926-8931　2022/10　Research paper (international conference proceedings)

Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images

Kota Takata, Takuya Kiyokawa, Ixchel G. Ramirez-Alpizar, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems　p. 12058-12058　2022/10　Research paper (international conference proceedings)

Prying Grasp for Picking Thin Object Using Thick Fingertips

Qi Zhang, Zhengtao Hu, Keisuke Koyama, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 7　No. 4　p. 11577-11584　2022/10　Research paper (scientific journal)

Challenges and Outlook in Robotic Manipulation of Deformable Objects

Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang Li, Jia Pan, Wenzhen Yuan, Michael Gienger

IEEE Robotics and Automation Magazine　Vol. 29　No. 3　p. 67-77　2022/09　Research paper (scientific journal)

Shelf Replenishment Based on Object Arrangement Detection and Collapse Prediction for Bimanual Manipulation

Tomohiro Motoda, Damien Petit, Takao Nishi, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada

Robotics　Vol. 11　No. 5　p. 104-104　2022/09　Research paper (scientific journal)

Fast pivoting gait generation by model predictive control designed with basis functions

Ang Zhang, Weiwei Wan, Kensuke Harada

Advanced Robotics　Vol. 36　No. 15　p. 735-749　2022/08/03　Research paper (scientific journal)

Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens

Ruishuang Liu, Weiwei Wan, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Robotics　Vol. 38　No. 3　p. 1773-1792　2022/06　Research paper (scientific journal)

Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task

Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 7　No. 2　p. 2961-2968　2022/04　Research paper (scientific journal)

An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks

Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada

Frontiers in Robotics and AI　Vol. 8　2022/01/11　Research paper (scientific journal)

Food Arrangement Framework for Cooking Robots.

Hoshito Nagahama, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada

IEEE/ASME International Conference on Advanced Intelligent Mechatronics　p. 1179-1184　2022　Research paper (international conference proceedings)

Grasp pose detection for deformable daily items by pix2stiffness estimation

Koshi Makihara, Yukiyasu Domae, Ixchel G. Ramirez-Alpizar, Toshio Ueshiba, Kensuke Harada

Advanced Robotics　Vol. 36　No. 12　p. 600-610　2022　Research paper (scientific journal)

A Synergy Hand for Object Manipulation using Switchable Fluid Network

Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Weiwei Wan, Takuya Kiyokawa, Kensuke Harada

Journal of the Robotics Society of Japan　Vol. 40　No. 7　p. 635-638　2022　Research paper (scientific journal)

Suitable Error Recovery Process using Combined Evaluation Standards in Robotic Manufacturing Plant

Akira Nakamura, Kensuke Harada

Proceedings of the 2022 International Conference on Artificial Life and Robotics　p. 343-348　2022/01　Research paper (international conference proceedings)

Motion Planning to Retrieve an Object from Random File

Shusei Nagato, Tomohiro Motoda, Keisuke Koyama, Weiwei Wan, Kensuke Harada

Proceedings of the 2022 International Conference on Artificial Life and Robotics　p. 328-334　2022/01　Research paper (international conference proceedings)

An Optimization-based Motion Planner for a Mobile Manipulator to Perform Tasks During the Motion

Jingren Xu, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII)　p. 519-524　2022/01　Research paper (international conference proceedings)

Arranging test tubes in racks using combined task and motion planning

Weiwei Wan, Takeyuki Kotaka, Kensuke Harada

Robotics and Autonomous Systems　Vol. 147　p. 103918-103918　2022/01　Research paper (scientific journal)

Using affordances for assembly: Towards a complete Craft Assembly System

Vitor H. Isume, Kensuke Harada, Weiwei Wan, Yukiyasu Domae

Proceedings of The 21th International Conference on Control, Automation and Systems　Vol. 2021-October　p. 2010-2014　2021/10　Research paper (international conference proceedings)

Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping

Ang Zhang, Keisuke Koyama, Weiwei Wan, Kensuke Harada

Applied Sciences　Vol. 11　No. 19　p. 9103-9103　2021/09/30　Research paper (scientific journal)

Assembly Planning by Recognizing a Graphical Instruction Manual

Issei Sera, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Zhenting Wang, Weiwei Wan, Kensuke Harada

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems　p. 3115-3122　2021/09　Research paper (international conference proceedings)

Efficient Picking by Considering Simultaneous Two-Object Grasping

Takumi Sakamoto, Weiwei Wan, Takao Nishi, Kensuke Harada

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems　p. 8272-8277　2021/09　Research paper (international conference proceedings)

Bimanual Shelf Picking Planner Based on Collapse Prediction

Tomohiro Motoda, Damien Petit, Weiwei Wan, Kensuke Harada

Proceedings of IEEE International Conference on Automation, Science and Engineering　p. 510-515　2021/08　Research paper (international conference proceedings)

A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-picking

Xinyi Zhang, Keisuke Koyama, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

Proceedings of IEEE International Conference on Automation, Science and Engineering　p. 461-467　2021/08　Research paper (international conference proceedings)

Planning to Build Soma Blocks Using a Dual-arm Robot

Hao Chen, Weiwei Wan, Kensuke Harada, “Planning to Build, Soma Blocks Using a, Dual-arm Robot

IEEE International Conference on Development and Learning　2021/08　Research paper (international conference proceedings)

Planning to repose long and heavy objects considering a combination of regrasp and constrained drooping

Mohamed Raessa, Weiwei Wan, Kensuke Harada

Assembly Automation　Vol. 41　No. 3　p. 324-332　2021/06/08　Research paper (scientific journal)

Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning

Yan Wang, Cristian Camilo Beltran-Hernandez, Weiwei Wan, Kensuke Harada

Proceedings of IEEE International Conference on Robotics and Automation　2021/05　Research paper (international conference proceedings)

Selecting and designing grippers for an assembly task in a structured approach

Jingren Xu, Weiwei Wan, Keisuke Koyama, Yukiyasu Domae, Kensuke Harada

Advanced Robotics　Vol. 35　No. 6　p. 381-397　2021/03/19　Research paper (scientific journal)

Planning to Flip Heavy Objects Considering Soft-Finger Contacts

Mohamed Raessa, Weiwei Wan, Keisuke Koyama, Kensuke Harada

International Journal of Automation Technology　Vol. 15　No. 2　p. 158-167　2021/03/05　Research paper (scientific journal)

Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes

Weiwei Wan, Kensuke Harada, Fumio Kanehiro

IEEE Transactions on Robotics　Vol. 37　No. 1　p. 166-184　2021/02　Research paper (scientific journal)

Robotic picking for piled sushi topping

Kenta Matsuura, Keisuke Koyama, Weiwei Wan, Kensuke Harada

Proceedings of International Conference on Artificial Life and Robotics　Vol. 2021　p. 328-331　2021　Research paper (international conference proceedings)

Assembly Action Understanding from Fine-Grained Hand Motions, a Multi-camera and Deep Learning Approach

Enrique Coronado, Kosuke Fukuda, Ixchel G. Ramirez-Alpizar, Natsuki Yamanobe, Gentiane Venture, Kensuke Harada

IEEE International Conference on Intelligent Robots and Systems　p. 2628-2634　2021　Research paper (international conference proceedings)

Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants.

Akira Nakamura, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Yukiyasu Domae

Journal of Robotics, Networking and Artificial Life　Vol. 8　No. 3　p. 211-217　2021　Research paper (scientific journal)

Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators

Hao Chen, Weiwei Wan, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 19　No. 4　p. 1-17　2021　Research paper (scientific journal)

A Mechanical Screwing Tool for Parallel Grippers; Design, Optimization, and Manipulation Policies

Zhengtao Hu, Weiwei Wan, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Robotics　Vol. 38　No. 2　p. 1139-1159　2021　Research paper (scientific journal)

A Dual-Arm Robot That Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks

Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 19　No. 4　p. 1-15　2021　Research paper (scientific journal)

Development of One Board, USB Type High-Speed, High-Precision Proximity Sensor and Analysis of Pre-grasp Control

小山佳祐, 堀邊隆介, 安田博, Wan Weiwei, 原田研介, 石川正俊

日本ロボット学会誌　Vol. 39　No. 9　2021

Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator

Jingren Xu, Yukiyasu Domae, Toshio Ueshiba, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 9　p. 165526-165541　2021　Research paper (scientific journal)

Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools

Daniel Sanchez, Weiwei Wan, Kensuke Harada

IEEE/ASME Transactions on Mechatronics　Vol. 27　No. 5　p. 1-11　2021　Research paper (scientific journal)

Presenting Walking Route for VR Zombie

Nobuchika SAKATA, Kohei KANAMORI, Tomu TOMINAGA, Yoshinori HIJIKATA, Kensuke HARADA, Kiyoshi KIYOKAWA

IEICE Transactions on Information and Systems　Vol. E104.D　No. 1　p. 162-173　2021/01/01　Research paper (scientific journal)

Development of a shape-memorable adaptive pin array fixture.

Peihao Shi, Zhengtao Hu, Kazuyuki Nagata, Weiwei Wan, Yukiyasu Domae, Kensuke Harada

Advanced Robotics　Vol. 35　No. 10　p. 591-602　2021　Research paper (scientific journal)

Controlling Pivoting Gait Using Graph Model Predictive Control.

Ang Zhang, Keisuke Koyama, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 9　p. 73757-73770　2021　Research paper (scientific journal)

Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework

Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada

IEEE Access　Vol. 9　p. 60175-60186　2021　Research paper (scientific journal)

Online Object Searching by a Humanoid Robot in an Unknown Environment.

Masato Tsuru, Adrien Escande, Arnaud Tanguy, Kevin Chappellet, Kensuke Harada

IEEE Robotics Autom. Lett. (with ICRA Option)　Vol. 6　No. 2　p. 2862-2869　2021　Research paper (scientific journal)

Motion Generation by Learning Relationship between Object Shapes and Human Motions

Tokuo Tsuji, Sho Tajima, Yosuke Suzuki, Tetsuyou Watanabe, Shoko Miyauchi, Ken’ichi Morooka, Kensuke Harada, Hiroaki Seki

2021 International Conference on Artificial Life and Robotics　Vol. 26　p. 332-335　2021/01　Research paper (international conference proceedings)

Robotic Picking for Piled Sushi Topping

Kenta Matsuura, Keisuke Koyama, Weiwei Wan, Kensuke Harada

2021 International Conference on Artificial Life and Robotics　Vol. 2020　p. 328-331　2021/01　Research paper (international conference proceedings)

Using Various Evaluation Standards to Determine an Error Recovery Process in an Automation Plant

Akira Nakamura, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Yukiyasu Domae

2021 International Conference on Artificial Life and Robotics　Vol. 2021　p. 321-327　2021/01　Research paper (international conference proceedings)

Cooking Actions Inference based on Ingredient's Physical Features.

Ixchel Georgina Ramirez-Alpizar, Ryosuke Hiraki, Kensuke Harada

IEEE/SICE International Symposium on System Integration　p. 195-200　2021　Research paper (international conference proceedings)

Error Identification and Recovery in Robotic Snap Assembly.

Yusuke Hayami, Weiwei Wan, Keisuke Koyama, Peihao Shi, Juan Rojas 0001, Kensuke Harada

IEEE/SICE International Symposium on System Integration　p. 46-53　2021　Research paper (international conference proceedings)

Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands

Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　Vol. abs/2003.11699　2020/10/24　Research paper (international conference proceedings)

Variable Compliance Control for Robotic Peg-In-Hole Assembly: A Deep-Reinforcement-Learning Approach

Cristian C. Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada

Applied Sciences　Vol. 10　No. 19　p. 6923-6923　2020/10　Research paper (scientific journal)

Human-in-the-Loop Robotic Manipulation Planning for Collaborative Assembly

Mohamed Raessa, Jimmy Chi Yin Chen, Weiwei Wan, Kensuke Harada

IEEE Transactions on Automation Science and Engineering　Vol. 17　No. 4　p. 1800-1813　2020/10　Research paper (scientific journal)

Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots

Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Takayuki Nishi, Shinichi Kikuchi, Takamitsu Matsubara, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 5　No. 4　p. 5709-5716　2020/10　Research paper (scientific journal)

Motion planning of skillful motions in assembly process through human demonstration

Yan Wang, Kensuke Harada, Weiwei Wan

ADVANCED ROBOTICS　Vol. 34　No. 16　p. 1079-1093　2020/08　Research paper (scientific journal)

Integrating combined task and motion planning with compliant control

Hao Chen, Juncheng Li, Weiwei Wan, Zhifeng Huang, Kensuke Harada

International Journal of Intelligent Robotics and Applications　Vol. 4　No. 2　p. 149-163　2020/06/10　Research paper (scientific journal)

Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks

Jingren Xu, Kensuke Harada, Weiwei Wan, Toshio Ueshiba, Yukiyasu Domae

2020 IEEE International Conference on Robotics and Automation (ICRA)　p. 11018-11024　2020/05　Research paper (international conference proceedings)

Optimization of Multi-step Force Controller Based on Human Characteristics

Yasuhiko Fukumoto, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada

Journal of the Robotics Society of Japan　Vol. 38　No. 4　p. 391-400　2020/05　Research paper (scientific journal)

Tethered Tool Manipulation Planning With Cable Maneuvering

Daniel Sanchez, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 5　No. 2　p. 2777-2784　2020/04　Research paper (scientific journal)

Tethered Tool Manipulation Planning With Cable Maneuvering

Daniel Sanchez, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 5　No. 2　p. 2777-2784　2020/04　Research paper (scientific journal)

Team O2AS' approach for the task-board task of the World Robot Challenge 2018

Kaidi Nie, Felix von Drigalski, Joshua C. Triyonoputro, Chisato Nakashima, Yoshiya Shibata, Yoshinori Konishi, Yoshihisa Ijiri, Taku Yoshioka, Yukiyasu Domae, Toshio Ueshiba, Ryuichi Takase, Xinyi Zhang, Damien Petit, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Kensuke Harada

Advanced Robotics　p. 1-22　2020/03/31　Research paper (scientific journal)

Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools

Felix von Drigalski, Chisato Nakashima, Yoshiya Shibata, Yoshinori Konishi, Joshua C. Triyonoputro, Kaidi Nie, Damien Petit, Toshio Ueshiba, Ryuichi Takase, Yukiyasu Domae, Taku Yoshioka, Yoshihisa Ijiri, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Kensuke Harada

Advanced Robotics　p. 1-17　2020/03/09　Research paper (scientific journal)

User Interface and Motion Planner for Task Database

Tokuo Tsuji, Natsuki Yamanobe, Kei Ikeda, Kensuke Harada

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 6　No. 4　p. 258-261　2020/03　Research paper (scientific journal)

Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer

Daniel Sanchez, Weiwei Wan, Kensuke Harada

Robotics　Vol. 9　No. 1　p. 11-11　2020/03　Research paper (scientific journal)

Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation

Daniel Sánchez, Weiwei Wan, Fumio Kanehiro, Kensuke Harada

International Journal of Humanoid Robotics　Vol. 17　No. 02　p. 2050005-2050005　2020/01/31　Research paper (scientific journal)

Cost-oriented planning for error recovery in an automation plant

Akira Nakamura, Natsuki Yamanobe, Ixchel Ramirez Alpizar, Kensuke Harada, Yukiyasu Domae

Proceedings of International Conference on Artificial Life and Robotics　Vol. 2020　p. 285-290　2020　Research paper (international conference proceedings)

Robotic action/observation planning for playing yamakuzushi based on human motion

Tomohiro MOTODA, Weiwei WAN, Kensuke HARADA

Transactions of the JSME (in Japanese)　Vol. 86　No. 892　p. 20-00146　2020　Research paper (scientific journal)

POMDP-based action planning for the recognition of occluded objects with Humanoid robots

Masato Tsuru, Pierre Gergondet, Tomohiro Motoda, Adrien Escande, Eiichi Yoshida, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Kensuke Harada

PROCEEDINGS OF THE 2020 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2020)　p. 281-284　2020　Research paper (international conference proceedings)

Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps

Takumi Sakamoto, Kensuke Harada, Weiwei Wan

Journal of Robotics, Networking and Artificial Life　Vol. 6　No. 4　p. 240-240　2020　Research paper (scientific journal)

Cost-oriented Planning for Error Recovery in an Automation Plant

Akira Nakamura, Natsuki Yamanobe, Ixchel Ramirez Alpizar, Kensuke Harada, Yukiyasu Domae

Journal of Robotics, Networking and Artificial Life　Vol. 6　No. 4　p. 225-225　2020　Research paper (scientific journal)

Assembly Motion Recognition Framework Using Only Images

Kosuke Fukuda, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Kensuke Harada

2020 IEEE/SICE International Symposium on System Integration (SII)　2020/01　Research paper (international conference proceedings)

Probabilistic Action/Observation Planning for Playing Yamakuzushi

Tomohiro Motoda, Weiwei Wan, Kensuke Harada

2020 IEEE/SICE International Symposium on System Integration (SII)　p. 150-155　2020/01　Research paper (international conference proceedings)

Preparatory Manipulation Planning Using Automatically Determined Single and Dual Arm

Weiwei Wan, Kensuke Harada, Fumio Kanehiro

IEEE Transactions on Industrial Informatics　Vol. 16　No. 1　p. 442-453　2020/01　Research paper (scientific journal)

Dual-arm Assembly Planning Considering Gravitational Constraints

Ryota Moriyama, Weiwei Wan, Kensuke Harada

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2019/11　Research paper (international conference proceedings)

Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data

Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2019/11　Research paper (international conference proceedings)

Realizing an assembly task through virtual capture

Damien Petit, Ixchel G. Ramirez-Alpizar, Wataru Kamei, Qiming He, Kensuke Harada

2019 IEEE International Conference on Systems, Man and Cybernetics (SMC)　2019/10　Research paper (international conference proceedings)

Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers

Zhengtao Hu, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 4　No. 3　p. 2981-2988　2019/07　Research paper (scientific journal)

Multi-dimensional Error Identification during Robotic Snap Assembly

Yusuke Hayami, Peihao Shi, Weiwei Wan, Ixchel G. Ramirez-Alpizar, Kensuke Harada

Advances in Mechanism and Machine Science　p. 2189-2198　2019/06/14　Part of collection (book)

Two-Stage Picking Method for Piled Shiny Objects

Yuya Sato, Kensuke Harada, Nobuchika Sakata, Weiwei Wan, Ixchel G. Ramirez-Alpizar

Advances in Mechanism and Machine Science　p. 2049-2058　2019/06/14　Part of collection (book)

Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer

Daniel Sánchez, Weiwei Wan, Kensuke Harada

Advances in Mechanism and Machine Science　p. 2567-2576　2019/06/14　Part of collection (book)

Regrasp Planning Using Stable Object Poses Supported by Complex Structures

Jiayao Ma, Weiwei Wan, Kensuke Harada, Qiuguo Zhu, Hong Liu

IEEE Transactions on Cognitive and Developmental Systems　Vol. 11　No. 2　p. 257-269　2019/06　Research paper (scientific journal)

A regrasp planning component for object reorientation

Weiwei Wan, Hisashi Igawa, Kensuke Harada, Hiromu Onda, Kazuyuki Nagata, Natsuki Yamanobe

AUTONOMOUS ROBOTS　Vol. 43　No. 5　p. 1101-1115　2019/06　Research paper (scientific journal)

Humanoid walking pattern generation based on model predictive control approximated with basis functions

Ang Zhang, Ixchel G. Ramirez-Alpizar, Kevin Giraud Esclasse, Olivier Stasse, Kensuke Harada

ADVANCED ROBOTICS　Vol. 33　No. 9　p. 454-468　2019/05　Research paper (scientific journal)

A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly

Kaidi Nie, Weiwei Wan, Kensuke Harada

IEEE Robotics and Automation Letters　Vol. 4　No. 2　p. 958-965　2019/04　Research paper (scientific journal)

Motion-Data Driven Grasp/Assembly Planner

Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel G. Ramirez-Alpizar, Tokuo Tsuji

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 5　No. 4　p. 232-235　2019/03　Research paper (scientific journal)

Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Yukiyasu Domae

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 5　No. 4　p. 283-288　2019/03　Research paper (scientific journal)

Teaching a robot to use electric tools with regrasp planning

Mohamed Raessa, Daniel Sánchez, Weiwei Wan, Damien Petit, Kensuke Harada

CAAI Transactions on Intelligence Technology　Vol. 4　No. 1　p. 54-63　2019/02/20　Research paper (scientific journal)

Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool

Hao Chen, Weiwei Wan, Kensuke Harada

2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 446-452　2019　Research paper (international conference proceedings)

Learning Based Robotic Bin-picking for Potentially Tangled Objects

Ryo Matsumura, Yukiyasu Domae, Weiwei Wan, Kensuke Harada

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 7990-7997　2019　Research paper (international conference proceedings)

Designing Grasping Tools for Robotic Assembly Based on Shape Analysis of Parts

Kento Nakayama, Weiwei Wan, Kensuke Harada

2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 395-401　2019　Research paper (international conference proceedings)

Multi-contact Stability of Humanoids using ZMP and CWC

Zhenting Wang, Kensuke Harada, Weiwei Wan

2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 126-131　2019　Research paper (international conference proceedings)

Constrained Motion Planning for Flipping Stick-like Objects.

Mohamed Raessa, Weiwei Wan, Kensuke Harada

2020 IEEE/SICE International Symposium on System Integration (SII)　p. 147-152　2019　Research paper (international conference proceedings)

Motion-Data Driven Grasp/Assembly Planner

Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel G. Ramirez-Alpizar, Tokuo Tsuji

ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS　Vol. 5　No. 4　p. 1-4　2019　Research paper (international conference proceedings)

The Use of Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Yukiyasu Domae

ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS　p. 638-643　2019　Research paper (international conference proceedings)

Force control design for robots based on correlation in human demonstration data

FUKUMOTO Yasuhiko, YAMANOBE Natsuki, WAN Weiwei, HARADA Kensuke

Transactions of the JSME (in Japanese)　Vol. 85　No. 874　p. 18-00489-18-00489　2019

A Verification of a Control System of Multi-fingered Hands for Realizing Task Oriented Software Synergy

Higashi Kazuki, Ozawa Ryuta, Nagata Kazuyuki, Wan Weiwei, Harada Kensuke

Transactions of the Institute of Systems, Control and Information Engineers　Vol. 32　No. 5　p. 218-226　2019

Task description based on coordination of primitive actions

NAGATA Kazuyuki, HANAI Ryo, YAMANOBE Natsuki, NAKAMURA Akira, HARADA Kensuke

Transactions of the JSME (in Japanese)　Vol. 85　No. 870　p. 18-00232-18-00232　2019

Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process

Yan Wang, Kensuke Harada, Weiwei Wan

2019 IEEE-RAS 19TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　Vol. abs/1910.01821　p. 544-550　2019　Research paper (international conference proceedings)

Speech-Driven Facial Animation by LSTM-RNN for Communication Use

Ryosuke Nishimura, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa

2019 12TH ASIA PACIFIC WORKSHOP ON MIXED AND AUGMENTED REALITY (APMAR)　p. 22-29　2019　Research paper (international conference proceedings)

Learning to Grasp with Primitive Shaped Object Policies

Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　p. 468-473　2019　Research paper (international conference proceedings)

Recognition of Assembly Tasks Based on the Actions Associated to the Manipulated Objects

Kosuke Fukuda, Ixchel G. Ramirez-Alpizar, Natsuki Yamanobe, Damien Petit, Kazuyuki Nagata, Kensuke Harada

2019 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　p. 193-198　2019　Research paper (international conference proceedings)

Visually Guided Extrinsic Manipulation for Assembly Tasks.

Mohamed Raessa, Damien Petit, Weiwei Wan, Kensuke Harada

4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Toyonaka, Japan, July 3-5, 2019　p. 202-207　2019　Research paper (international conference proceedings)

Speech-Driven Facial Animation by LSTM-RNN for Communication Use.

Ryosuke Nishimura, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa

12th Asia Pacific Workshop on Mixed and Augmented Reality, APMAR 2019, Ikoma, Nara, Japan, March 28-29, 2019　p. 1-8　2019　Research paper (international conference proceedings)

Walking Assist Method for VR Zombie

Kohei Kanamori, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa

2019 12TH ASIA PACIFIC WORKSHOP ON MIXED AND AUGMENTED REALITY (APMAR)　p. 15-21　2019　Research paper (international conference proceedings)

Tool Exchangeable Grasp/Assembly Planner

Kensuke Harada, Kento Nakayama, Weiwei Wan, Kazuyuki Nagata, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar

Intelligent Autonomous Systems 15　p. 799-811　2018/12/31　Part of collection (book)

Learning Based Industrial Bin-Picking Trained with Approximate Physics Simulator

Ryo Matsumura, Kensuke Harada, Yukiyasu Domae, Weiwei Wan

Intelligent Autonomous Systems 15　Vol. abs/1805.08936　p. 786-798　2018/12/31　Part of collection (book)

Industry 4.0, Intelligent Visual Assisted Picking Approach

Mario Arbulu, Paola Mateus, Manuel Wagner, Cristian Beltran, Kensuke Harada

Mining Intelligence and Knowledge Exploration　p. 205-214　2018/12/18　Part of collection (book)

Design of robot programming software for the systematic reuse of teaching data including environment model

Ryo Hanai, Kensuke Harada, Isao Hara, Noriaki Ando

ROBOMECH Journal　Vol. 5　No. 1　2018/09/06　Research paper (scientific journal)

Optimizing the Motion for Robotic Snap Assembly Using FEM

Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez, Juan Rojas, Hiromu Onda

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 5　No. 2　p. 105-109　2018/09　Research paper (scientific journal)

Experiments on learning-based industrial bin-picking with iterative visual recognition

Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda

Industrial Robot: An International Journal　Vol. 45　No. 4　p. 446-457　2018/08/15　Research paper (scientific journal)

A Double Jaw Hand Designed for Multi-object Assembly

Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada

18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, November 6-9, 2018　p. 427-430　2018/07/30

Technique of Recovery Process and Application of AI in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 5　No. 1　p. 56-62　2018/06　Research paper (scientific journal)

Tool Exchangeable Grasp/Assembly Planner.

Kensuke Harada, Kento Nakayama, Weiwei Wan, Kazuyuki Nagata, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar

International Conference on Intelligent Autonomous Systems　2018

A regrasp planning component for object reorientation

Weiwei Wan, Hisashi Igawa, Kensuke Harada, Zepei Wu, Hiromu Onda, Kazuyuki Nagata, Natsuki Yamanobe

Autonomous Robots　2018

Motion selection for 3D robotic snap assembly

Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez, Juan Rojas, Hiromu Onda

PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS　p. 490-493　2018　Research paper (international conference proceedings)

A Double-jaw Hand that Mimics A Mouth of the Moray Eel

Joshua C. Triyonoputro, Weiwei Wan, Kantapon Akanesuvan, Kensuke Harada

2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)　p. 1527-1532　2018　Research paper (international conference proceedings)

Two-stage robotic picking for randomly stacked objects with recognition difficulty

SATO Yuya, HARADA Kensuke, SAKATA Nobuchika, WAN Weiwei, RAMIREZ-ALPIZAR Ixchel G.

Transactions of the JSME (in Japanese)　Vol. 84　No. 861　p. 17-00546-17-00546　2018

Force Controlled Assembly of a Ring-shaped Elastic Part Based on Dynamic Characteristics of Skilled Workers

Fukumoto Yasuhiko, Harada Kensuke

Journal of the Robotics Society of Japan　Vol. 36　No. 2　p. 159-167　2018

Assembly sequence planning for motion planning

Weiwei Wan, Kensuke Harada, Kazuyuki Nagata

ASSEMBLY AUTOMATION　Vol. 38　No. 2　p. 195-206　2018　Research paper (scientific journal)

A simple assembly planner for the insertion of ring-shaped deformable objects

Ixchel G. Ramirez-Alpizar, Kensuke Harada, Eiichi Yoshida

ASSEMBLY AUTOMATION　Vol. 38　No. 2　p. 182-194　2018　Research paper (scientific journal)

Grasp Synergy Analysis Based on Contact Area of Fingers using Thermal Signatures

Tokuo Tsuji, Hidetoshi Seki, Daisuke Inada, Ken-ichi Morooka, Kensuke Harada, Kenji Tahara, Masatoshi Hikizu, Hiroaki Seki

2018 57TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE)　p. 1386-1392　2018　Research paper (international conference proceedings)

A Double Jaw Hand Designed for Multi-object Assembly

Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada

2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　Vol. abs/1807.11345　p. 403-408　2018　Research paper (international conference proceedings)

Real Friendship and Virtual Friendship: Differences in Similarity of Contents/People and Proposal of Classification Models on SNS

Takafumi Komori, Yoshinori Hijikata, Tomu Tominaga, Shogoro Yoshida, Nobuchika Sakata, Kensuke Harada

2018 IEEE/WIC/ACM INTERNATIONAL CONFERENCE ON WEB INTELLIGENCE (WI 2018)　p. 354-360　2018　Research paper (international conference proceedings)

Obstacle Avoidance Method in Real Space for Virtual Reality Immersion

Kohei Kanamori, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa

PROCEEDINGS OF THE 2018 IEEE INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY (ISMAR)　p. 80-89　2018　Research paper (international conference proceedings)

An Adaptive Robotic Gripper with L-shape Fingers for Peg-in-hole Tasks

Kaidi Nie, Weiwei Wan, Kensuke Harada

2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 4022-4028　2018　Research paper (international conference proceedings)

Deep Learning Scooping Motion using Bilateral Teleoperations

Hitoe Ochi, Weiwei Wan, Yajue Yang, Natsuki Yamanobe, Jia Pan, Kensuke Harada

2018 3RD IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (IEEE ICARM)　p. 118-123　2018　Research paper (international conference proceedings)

Regrasp Planning Considering Bipedal Stability Constraints

Daniel Sanchez, Weiwei Wan, Kensuke Harada, Fumio Kanehiro

2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 271-277　2018　Research paper (international conference proceedings)

Force Control Law Selection for Elastic Part Assembly from Human Data and Parameter Optimization

Yasuhiko Fukumoto, Kensuke Harada

2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 359-365　2018　Research paper (international conference proceedings)

A virtual capture framework for assembly tasks

Damien Petit, Ixchel G. Ramirez-Alpizar, Qiming He, Kensuke Harada

2018 IEEE 14TH INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE)　p. 1618-1623　2018　Research paper (international conference proceedings)

Walking Support in Real Space Using Social Force Model When Wearing Immersive HMD

Kohei Kanamori, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa

ADJUNCT PROCEEDINGS OF THE 2018 IEEE INTERNATIONAL SYMPOSIUM ON MIXED AND AUGMENTED REALITY (ISMAR)　p. 250-253　2018　Research paper (international conference proceedings)

Technique of Recovery Process and Application of AI in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

PROCEEDINGS OF THE 2018 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS　Vol. 5　No. 1　p. 485-489　2018　Research paper (international conference proceedings)

Teaching robots to do object assembly using multi-modal 3D vision

Weiwei Wan, Feng Lu, Zepei Wu, Kensuke Harada

NEUROCOMPUTING　Vol. 259　p. 85-93　2017/10　Research paper (scientific journal)

Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 4　No. 2　p. 163-167　2017/09　Research paper (scientific journal)

The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 4　No. 2　p. 134-137　2017/09　Research paper (scientific journal)

Human-based framework for the assembly of elastic objects by a dual-arm robot

Ixchel G. Ramirez-Alpizar, Kensuke Harada, Eiichi Yoshida

ROBOMECH Journal　Vol. 4　No. 1　2017/08/14　Research paper (scientific journal)

Using simplified geometric models in skill-based manipulation for objects used in daily life

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

Artificial Intelligence Research　Vol. 6　No. 2　p. 100-100　2017/08/10　Research paper (scientific journal)

Regrasp Planning using 10,000s of Grasps

Weiwei Wan, Kensuke Harada

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, September 24-28, 2017　p. 1929-1936　2017/05/26

Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models

Hongmin Wu, Hongbin Lin, Yisheng Guan, Kensuke Harada, Juan Rojas

17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, Birmingham, United Kingdom, November 15-17, 2017　p. 882-888　2017/05/24

Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS　p. P217-P220　2017　Research paper (international conference proceedings)

The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

ICAROB 2017: PROCEEDINGS OF THE 2017 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS　p. P221-P224　2017　Research paper (international conference proceedings)

Iterative Visual Recognition for Learning Based Randomized Bin-Picking

Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda

2016 INTERNATIONAL SYMPOSIUM ON EXPERIMENTAL ROBOTICS　Vol. 1　p. 646-655　2017　Research paper (international conference proceedings)

Regrasp Planning using 10,000s of Grasps

Weiwei Wan, Kensuke Harada

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　Vol. abs/1705.09400　p. 1921-1928　2017　Research paper (international conference proceedings)

Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models

Hongmin Wu, Hongbin Lin, Yisheng Guan, Kensuke Harada, Juan Rojas

2017 IEEE-RAS 17TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTICS (HUMANOIDS)　Vol. abs/1705.08661　p. 882-888　2017　Research paper (international conference proceedings)

Online Robot Introspection via Wrench-based Action Grammars

Juan Rojas, Shuangqi Luo, Dingqiao Zhu, Yunlong Du, Hongbin Lin, Zhengjie Huang, Wenwei Kuang, Kensuke Harada

2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 5429-5436　2017　Research paper (international conference proceedings)

Extracting grasping, contact points and objects motion from assembly demonstration

Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata

2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE)　p. 1096-1101　2017　Research paper (international conference proceedings)

Self-locking Underactuated Mechanism for Robotic Gripper

Jui Hsu, Eiichi Yoshida, Kensuke Harada, Abderrahmane Kheddar

2017 IEEE INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM)　p. 620-627　2017　Research paper (international conference proceedings)

A brief review of affordance in robotic manipulation research

Natsuki Yamanobe, Weiwei Wan, Ixchel G. Ramirez-Alpizar, Damien Petit, Tokuo Tsuji, Shuichi Akizuki, Manabu Hashimoto, Kazuyuki Nagata, Kensuke Harada

ADVANCED ROBOTICS　Vol. 31　No. 19-20　p. 1086-1101　2017

Initial experiments on learning-based randomized bin-picking allowing finger contact with neighboring objects

Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda

IEEE International Conference on Automation Science and Engineering　Vol. 2016-　p. 1196-1202　2016/11/14　Research paper (international conference proceedings)

Integrated assembly and motion planning using regrasp graphs

Weiwei Wan, Kensuke Harada

Robotics and Biomimetics　Vol. 3　No. 1　p. 174-179　2016/11/08　Research paper (scientific journal)

Robot Contact Task State Estimation via Action Grammars

Juan Rojas, Zhengjie Huang, Kensuke Harada

2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 249-255　2016/09/16　Research paper (international conference proceedings)

Modeling development process of skill-based system for human-like manipulation robot

R. Hanai, H. Suzuki, Y. Nakabo, K. Harada

Advanced Robotics　Vol. 30　No. 10　p. 676-690　2016/03/21　Research paper (scientific journal)

Robot Contact Task State Estimation via Position-based Action Grammars.

Juan Rojas, Zhenjie Huang, Kensuke Harada

2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　Vol. abs/1609.04946　p. 249-255　2016　Research paper (international conference proceedings)

A Framework for Systematic Accumulation, Sharing and Reuse of Task Implementation Knowledge

Ryo Hanai, Kensuke Harada

2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　p. 434-440　2016　Research paper (international conference proceedings)

Iterative Visual Recognition for Learning Based Randomized Bin-Picking.

Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Array,Hiromu Onda

International Symposium on Experimental Robotics, ISER 2016, Tokyo, Japan, October 3-6, 2016.　p. 646-655　2016

An Empirical Comparison Among the Effect of Different Supports in Sequential Robotic Manipulation

Chao Cao, Weiwei Wan, Jia Pan, Kensuke Harada

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016)　p. 2548-2553　2016　Research paper (international conference proceedings)

Analyzing the Utility of a Support Pin in Sequential Robotic Manipulation

Chao Cao, Weiwei Wan, Jia Pan, Kensuke Harada

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 5499-5504　2016　Research paper (international conference proceedings)

Rope Caging and Grasping

Tsz-Ho Kwok, Weiwei Wan, Jia Pan, Charlie C. L. Wang, Jianjun Yuan, Kensuke Harada, Yong Chen

2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 1980-1986　2016　Research paper (international conference proceedings)

Motion Generation for Pulling a Fire Hose by a Humanoid Robot

Ixchel G. Ramirez-Alpizar, Maximilien Naveau, Christophe Benazeth, Olivier Stasse, Jean-Paul Laumond, Kensuke Harada, Eiichi Yoshida

2016 IEEE-RAS 16TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 1016-1021　2016　Research paper (international conference proceedings)

Proposal of a shape adaptive gripper for robotic assembly tasks

Kensuke Harada, Kazuyuki Nagata, Juan Rojas, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Hiromu Onda, Tokuo Tsuji

ADVANCED ROBOTICS　Vol. 30　No. 17-18　p. 1186-1198　2016　Research paper (scientific journal)

Achieving high success rate in dual-arm handover using large number of candidate grasps, handover heuristics, and hierarchical search

Weiwei Wan, Kensuke Harada

ADVANCED ROBOTICS　Vol. 30　No. 17-18　p. 1111-1125　2016　Research paper (scientific journal)

Developing and Comparing Single-arm and Dual-arm Regrasp

Weiwei Wan, Kensuke Harada

IEEE ROBOTICS AND AUTOMATION LETTERS　Vol. 1　No. 1　p. 243-250　2015/09/08

Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

JOURNAL OF ROBOTICS NETWORKING AND ARTIFICIAL LIFE　Vol. 2　No. 1　p. 22-25　2015/06　Research paper (scientific journal)

Object Recognition and Planning of Ring-type Caging for Scissors

Makita Satoshi, Tsuji Shinya, Tsuji Tokuo, Harada Kensuke

The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM　Vol. 2015　No. 0　p. 140-141　2015

Development of a Hand-Eye System for Random Picking Tasks:— Evaluation of Position and Pose Estimating Algorithm for Randomly Stacked Objects —

Nishi Takao, Satoh Yutaka, Masuda Takeshi, Takase Ryuichi, Nagami Takeshi, Kawai Yoshihiro, Nakamura Osamu, Okano Hitoshi, Harada Yuji, Yoshimi Takashi, Harada Kensuke, Kita Yasuyo, Nagata Kazuyuki, Yamanobe Natsuki, Ueshiba Toshio

Journal of the Robotics Society of Japan　Vol. 33　No. 7　p. 538-547　2015

Base Position Planning for Picking Tasks by Mobile Manipulators

Harada Kensuke, Tsuji Tokuo, Kikuchi Kohei, Nagata Kazuyuki, Onda Hiromu, Kawai Yoshihiro

Journal of the Robotics Society of Japan　Vol. 33　No. 5　p. 355-361　2015

Semantic grasping of everyday objects using a knowledge model

NAGATA Kazuyuki, SHIRAKI Yohei, HARADA Kensuke, YAMANOBE Natsuki, NAKAMURA Akira, SATO Daisuke, KANAMIYA Yoshikazu

Transactions of the JSME (in Japanese)　Vol. 81　No. 829　p. 15-00227-15-00227　2015

Stability Evaluation of Soft-finger Grasp Considering the Contact Surface

HARADA Kensuke, TSUJI Tokuo, FUJIHIRA Yoshinori, WATANABE Tetsuyou, UTO Soichiro, YAMANOBE Natsuki, NAGATA Kazuyuki, KITAGAKI Kosei

Transactions of the Society of Instrument and Control Engineers　Vol. 51　No. 2　p. 83-91　2015

Grasp Stability Evaluation based on Energy Tolerance in Potential Field

Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'ichi Morooka, Ryo Kurazume

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 2311-2316　2015　Research paper (international conference proceedings)

Experimental Investigation of Effect of Fingertip Stiffness on Resistible Force in Grasping

Yoshinori Fujihira, Kensuke Harada, Tokuo Tsuji, Tetsuyou Watanabe

2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 4334-4340　2015　Research paper (international conference proceedings)

Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks

Kensuke Harada, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda, Yoshihiro Kawai

2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 194-201　2015　Research paper (international conference proceedings)

Reorientating Objects with a Gripping Hand and a Table Surface

Weiwei Wan, Kensuke Harada

2015 IEEE-RAS 15TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 101-106　2015　Research paper (international conference proceedings)

Optimizing the Parameters of Tilting Surfaces in Robotic Workcells

Weiwei Wan, Earnest C. H. Cheung, Jia Pan, Kensuke Harada

2015 INTERNATIONAL CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE)　p. 593-599　2015　Research paper (international conference proceedings)

Simulation-based Optimal Motion Planning for Deformable Object

Eiichi Yoshida, Ko Ayusawa, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Christian Duriez, Abderrahmane Kheddar

2015 IEEE INTERNATIONAL WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)　p. 1-6　2015　Research paper (international conference proceedings)

Divide-and-conquer Manipulation Planning by Lazily Searching a Weighted Two-layer Manipulation Graph

Weiwei Wan, Kensuke Harada

2015 IEEE INTERNATIONAL WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO)　p. 1-8　2015　Research paper (international conference proceedings)

Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe

PROCEEDINGS OF INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2015)　Vol. 2　No. 1　p. 13-16　2015　Research paper (international conference proceedings)

Validating an object placement planner for robotic pick-and-place tasks

Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Hiromu Onda

ROBOTICS AND AUTONOMOUS SYSTEMS　Vol. 62　No. 10　p. 1463-1477　2014/10　Research paper (scientific journal)

Model-Based Optimization for Robotics [TC Spotlight]

Katja Mombaur, Abderrahmane Kheddar, Kensuke Harada, Thomas Buschmann, Chris Atkeson

IEEE Robotics and Automation Magazine　Vol. 21　No. 3　p. 24-161　2014/09　Research paper (scientific journal)

Grasp Stability Analysis for Elastic Fingertips by using Potential Energy

Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'ichi Morooka, Ryo Kurazume

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　p. 453-458　2014　Research paper (international conference proceedings)

Project on Development of a Robot System for Random Picking -Grasp/Manipulation Planner for a Dual-Arm Manipulator-

Kensuke Harada, Takashi Yoshimi, Yasuyo Kita, Kazuyuki Nagata, Natsuki Yamanobe, Toshio Ueshiba, Yutaka Satoh, Takeshi Masuda, Ryuichi Takase, Takao Nishi, Takeshi Nagami, Yoshihiro Kawai, Osamu Nakamura

2014 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII)　p. 583-589　2014　Research paper (international conference proceedings)

Cantilever Snap Assemblies Failure Detection using SVMs and the RCBHT.

Weiqiang Luo, Juan Rojas, TianQiang Guan, Kensuke Harada, Kazuyuki Nagata

2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014)　p. 384-389　2014　Research paper (international conference proceedings)

Strategies, Controllers, and Coordination: Bi-Manual Snap Assembly Automation

Juan Rojas, TianQiang Guan, Weiqiang Luo, Kensuke Harada

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS IEEE-ROBIO 2014　p. 1266-1271　2014　Research paper (international conference proceedings)

Modeling of Everyday Objects for Semantic Grasp

Yohei Shiraki, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Kensuke Harada, Daisuke Sato, Dragomir N. Nenchev

2014 23RD IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION (IEEE RO-MAN)　p. 750-755　2014　Research paper (international conference proceedings)

Grasp Planning for Constricted Parts of Objects Approximated with Quadric Surfaces

Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Ken'ichi Morooka

2014 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2014)　p. 2447-2453　2014　Research paper (international conference proceedings)

Early Failure Characterization of Cantilever Snap Assemblies using the PA-RCBHT.

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 3370-3377　2014　Research paper (international conference proceedings)

A Manipulation Motion Planner for Dual-Arm Industrial Manipulators

Kensuke Harada, Tokuo Tsuji, Jean-Paul Laumond

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 928-934　2014　Research paper (international conference proceedings)

Stability of Soft-Finger Grasp under Gravity

Kensuke Harada, Tokuo Tsuji, Soichiro Uto, Natsuki Yamanobe, Kazuyuki Nagata, Kosei Kitagaki

2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 883-888　2014　Research paper (international conference proceedings)

Motion Planning for Dual-arm Assembly of Ring-shaped Elastic Objects

Ixchel G. Ramirez-Alpizar, Kensuke Harada, Eiichi Yoshida

2014 14TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 594-600　2014　Research paper (international conference proceedings)

Contextualized Early Failure Characterization of Cantilever Snap Assemblies

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata

2014 14TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)　p. 380-387　2014　Research paper (international conference proceedings)

Object Placement Planner for Robotic Pick and Place Tasks

HARADA Kensuke, TSUJI Tokuo, NAGATA Kazuyuki, YAMANOBE Natsuki, ONDA Hiromu, KAWAI Yoshihiro

Transactions of the Society of Instrument and Control Engineers　Vol. 49　No. 9　p. 823-831　2013/09/30

Grasp Planning using Quadric Surface Approximation for Parallel Grippers

Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)　p. 1611-1616　2013　Research paper (international conference proceedings)

Error Recovery Using Task Stratification and Error Classification for Manipulation Robots in Various Fields

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe, Tokuo Tsuji, Torea Foissotte, Yoshihiro Kawai

2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 3535-3542　2013　Research paper (international conference proceedings)

Probabilistic Approach for Object Bin Picking Approximated by Cylinders

Kensuke Harada, Kazuyuki Nagata, Tokuo Tsuji, Natsuki Yamanobe, Akira Nakamura, Yoshihiro Kawai

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 3742-3747　2013　Research paper (international conference proceedings)

Towards snap sensing

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai

International Journal of Mechatronics and Automation　Vol. 3　No. 2　p. 69-69　2013　Research paper (scientific journal)

Probabilistic state verification for snap assemblies using the relative-change-based hierarchical taxonomy

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai

2012 12th IEEE-RAS International Conference on Humanoid Robots　2012/11　Research paper (international conference proceedings)

A constraint-based motion control strategy for cantilever snap assemblies

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai

2012 IEEE International Conference on Mechatronics and Automation　2012/08　Research paper (international conference proceedings)

Pick-and-Place Motion Planning for Manipulators with Dual-Arms

HARADA Kensuke, FOISSOTTE Torea, TSUJI Tokuo, NAGATA Kazuyuki, YAMANOBE Natsuki, NAKAMURA Akira, KAWAI Yoshihiro

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 78　No. 792　p. 2870-2883　2012　Research paper (scientific journal)

Grasp Planning for Parallel Grippers Considering Flexibility on Its Grasping Surface

HARADA Kensuke, TSUJI Tokuo, NAGATA Kazuyuki, YAMANOBE Natsuki, MARUYAMA Kenichi, NAKAMURA Akira, KAWAI Yoshihiro

Transactions of the Society of Instrument and Control Engineers　Vol. 48　No. 7　p. 364-372　2012　Research paper (scientific journal)

Gradient Calibration for the RCBHT Cantilever Snap Verification System.

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012)　p. 984-990　2012　Research paper (international conference proceedings)

Object Placement Planner for Robotic Pick and Place Tasks

K. Harada, T. Tsuji, K. Nagata, N. Yamanobe, H. Onda, T. Yoshimi, Y. Kawai

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 980-985　2012　Research paper (international conference proceedings)

A Relative-Change-Based Hierarchical Taxonomy for Cantilever-Snap Assembly Verification.

Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　p. 356-363　2012　Research paper (international conference proceedings)

Pick and Place Planning for Dual-Arm Manipulators

Kensuke Harada, Torea Foissotte, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Yoshihiro Kawai

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 2281-2286　2012　Research paper (international conference proceedings)

Fast Evaluation of Grasp Stability by Using Ellipsoidal Approximation of Friction Cone

TSUJI Tokuo, HARADA Kensuke, KANEKO Kenji

Journal of the Robotics Society of Japan　Vol. 29　No. 3　p. 278-287　2011/04/15　Research paper (scientific journal)

Cybernetic Human HRP-4C: A Humanoid Robot with Human-Like Proportions

Shuuji Kajita, Kenji Kaneko, Fumio Kaneiro, Kensuke Harada, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kanako Miura, Kiyoshi Fujiwara, Ee Sian Neo, Isao Hara, Kazuhito Yokoi, Hirohisa Hirukawa

ROBOTICS RESEARCH　Vol. 70　p. 301-314　2011　Research paper (international conference proceedings)

Cybernetic human HRP-4C: A humanoid robot with human-like proportions

Shuuji Kajita, Kenji Kaneko, Fumio Kaneiro, Kensuke Harada, Mitsuharu Morisawa, Shin'Ichiro Nakaoka, Kanako Miura, Kiyoshi Fujiwara, Ee Sian Neo, Isao Hara, Kazuhito Yokoi, Hirohisa Hirukawa

Springer Tracts in Advanced Robotics　Vol. 70　No. STAR　p. 301-314　2011　Research paper (international conference proceedings)

Grasp planning for parallel grippers with flexibility on its grasping surface

Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Kenichi Maruyama, Akira Nakamura, Yoshihiro Kawai

2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011　p. 1540-1546　2011　Research paper (international conference proceedings)

Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp

Tokuo Tsuji, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Mitsuharu Morisawa

IEEE-RAS International Conference on Humanoid Robots　p. 75-80　2011　Research paper (international conference proceedings)

Turn using Feet Slip for Biped Robots : Modeling of Slip Phenomenon and Prediction of the Amount of Rotation

MIURA Kanako, NAKAOKA Shin'ichiro, KANEHIRO Fumio, HARADA Kensuke, KANEKO Kenji, YOKOI Kazuhito, KAJITA Shuuji

Journal of the Robotics Society of Japan　Vol. 28　No. 10　p. 1232-1242　2010/12/15

Two-Stage Time-Parametrized Gait Planning for Humanoid Robots

Kensuke Harada, Shizuko Hattori, Hirohisa Hirukawa, Mitsuharu Morisawa, Shuuji Kajita, Eiichi Yoshida

IEEE-ASME TRANSACTIONS ON MECHATRONICS　Vol. 15　No. 5　p. 694-703　2010/10　Research paper (scientific journal)

Development of Cybernetic Human "HRP-4C" : Project Overview and Design of Mechanical and Electrical Systems

KANEKO Kenji, KANEHIRO Fumio, MORISAWA Mitsuharu, MIURA Kanako, NAKAOKA Shin'ichiro, HARADA Kensuke, KAJITA Shuuji

Journal of the Robotics Society of Japan　Vol. 28　No. 7　p. 853-864　2010/09/15

Grasp Planning for a Multifingered Hand with a Humanoid Robot

Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kenichi Maruyama

Journal of Robotics and Mechatronics　Vol. 22　No. 2　p. 230-238　2010/04/20　Research paper (scientific journal)

SLIP TURN GENERATION OF HUMANOID ROBOTS BASED ON AN ANALYSIS OF FRICTION MODEL

K. Miura, F. Kanehiro, K. Harada, K. Kaneko, K. Yokoi, S. Kajita

EMERGING TRENDS IN MOBILE ROBOTICS　p. 761-768　2010　Research paper (international conference proceedings)

Grasp Planning for Multi-Fingered Hands Based on Rectangular Convex Models

HARADA Kensuke, TSUJI Tokuo, KANEKO Kenji, KANEHIRO Fumio, MARUYAMA Kenichi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 76　No. 762　p. 331-339　2010　Research paper (scientific journal)

Motion Planning for a Humanoid Robot Based on a Biped Walking Pattern Generator

Kensuke Harada

MOTION PLANNING FOR HUMANOID ROBOTS　p. 181-204　2010　Research paper (international conference proceedings)

Biped Walking Stabilization Based on Linear Inverted Pendulum Tracking

Shuuji Kajita, Mitsuharu Morisawa, Kanako Miura, Shin'ichiro Nakaoka, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kazuhito Yokoi

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)　p. 4489-4496　2010　Research paper (international conference proceedings)

Analysis on a Friction Based "Twirl" for Biped Robots

Kanako Miura, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Fumio Kanehiro, Kensuke Harada, Shuuji Kajita

2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　p. 4249-4255　2010　Research paper (international conference proceedings)

Simultaneous Whole-Body/Foot-Place Planning for Full-Body Humanoid Robots

HARADA Kensuke, MORISAWA Mitsuharu, MIURA Kanako, NAKAOKA Shin-ichiro, KANEKO Kenji, KAJITA Shuuji

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 76　No. 770　p. 2686-2693　2010

Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain

Kensuke Harada, Mitsuharu Morisawa, Shin-ichiro Nakaoka, Kenji Kaneko, Shuuji Kajita

Journal of Robotics and Mechatronics　Vol. 21　No. 3　p. 311-316　2009/06/20　Research paper (scientific journal)

Easy and Fast Evaluation of Grasp Stability by using Ellipsoidal Approximation of Friction Cone

Tokuo Tsuji, Kensuke Harada, Kenji Kaneko

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 1830-1837　2009　Research paper (international conference proceedings)

Toward Human-Like Walking Pattern Generator

Kensuke Harada, Kanako Miura, Mitsuharu Morisawa, Kenji Kaneko, Shin'ichiro Nakaoka, Fumio Kanehiro, Tokuo Tsuji, Shuuji Kajita

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　p. 1071-1077　2009　Research paper (international conference proceedings)

Robot motion remix based on motion capture data - Towards human-like locomotion of humanoid robots

Kanako Miura, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Fumio Kanehiro, Kensuke Harada, Kenji Kaneko, Shuuji Kajita

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09　p. 596-603　2009　Research paper (international conference proceedings)

Reactive stepping to prevent falling for humanoids

Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Joan Sola, Eiichi Yoshida, Nicolas Mansard, Kazuhito Yokoi, Jean-Paul Laumond

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09　p. 528-534　2009　Research paper (international conference proceedings)

Motion Planning for Legged Robots on Varied Terrain

Kris Hauser, Timothy Bretl, Jean-Claude Latombe, Kensuke Harada, Brian Wilcox

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH　Vol. 27　No. 11-12　p. 1325-1349　2008/11　Research paper (scientific journal)

Development of Humanoid Robot "HRP-3"

KANEKO Kenji, HARADA Kensuke, KANEHIRO Fumio, KIMURA Tsutomu, MIYAMORI Go, AKACHI Kazuhiko

Journal of the Robotics Society of Japan　Vol. 26　No. 6　p. 658-666　2008/08/29　Research paper (scientific journal)

Motion Generation of Emergency Stop at Double Support Phase for Humanoid Robot by Pole Assignment

MORISAWA Mitsuharu, KAJITA Shuuji, KANEKO Kenji, KANEHIRO Fumio, NAKAOKA Shin'ichiro, HARADA Kensuke, FUJIWARA Kiyoshi, HIRUKAWA Hirohisa

Journal of the Robotics Society of Japan　Vol. 26　No. 4　p. 341-350　2008/05/15　Research paper (scientific journal)

Collision Avoidance Planning of a Humanoid Robot under Dynamic Walking

HARADA Kensuke, HATTORI Shizuko, HIRUKAWA Hirohisa, MORISAWA Mitsuharu, KAJITA Shuuji, YOSHIDA Eiichi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 74　No. 745　p. 2272-2280　2008

Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots

Kris Hauser, Timothy Bretl, Kensuke Harada, Jean-Claude Latombe

ALGORITHMIC FOUNDATION OF ROBOTICS VII　Vol. 47　p. 507-+　2008　Research paper (international conference proceedings)

Task autonomy for a teleoperated humanoid robot

Kensuke Harada, Hitoshi Hasunuma, Katsumi Nakashima, Yoshihiro Kawai, Hirohisa Hirukawa

Springer Tracts in Advanced Robotics　Vol. 39　p. 533-540　2008　Research paper (international conference proceedings)

Humanoids.

Charles C. Kemp, Paul M. Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, Yoshio Matsumoto

Springer Handbook of Robotics　p. 1307-1333　2008

A Pattern Generator of Humanoid Robots Walking on a Rough Terrain using a Handrail

Ken'ichi Koyanagi, Hirohisa Hirukawa, Shizuko Hattori, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kensuke Harada, Shuuji Kajita

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　p. 2617-+　2008　Research paper (international conference proceedings)

Humanoid Robot HRP-3

Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Go Miyamori, Kazuhiko Akachi

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　p. 2471-+　2008　Research paper (international conference proceedings)

Kinodynamic Gait Planning for Full-Body Humanoid Robots

Kensuke Harada, Mitsuharu Morisawa, Kanako Miura, Shin-ichiro Nakaoka, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita

2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS　p. 1544-1550　2008　Research paper (international conference proceedings)

Fast grasp planning for hand/arm systems based on convex model

Kensuke Harada, Kenji Kaneko, Fumio Kanehiro

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　p. 1162-1168　2008　Research paper (international conference proceedings)

A Friction Based "Twirl" for Biped Robots

Kanako Miura, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita

2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008)　p. 279-284　2008　Research paper (international conference proceedings)

Selecting a Suitable Grasp Motion for Humanoid Robots with a Multi-Fingered Hand

Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Yoshihiro Kawai

2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008)　p. 54-60　2008　Research paper (international conference proceedings)

力制御型マニピュレーションに基づくヒューマノイドロボットの実時間歩容計画

原田 研介, 梶田 秀司, 金広 文男, 藤原 清司, 金子 健二, 横井 一仁, 比留川 博久

日本機械学会誌　Vol. 111　No. 1074　p. 377-377　2008

Development of Multi-fingered Hand for Life-size Humanoid Robots

KANEKO Kenji, HARADA Kensuke, KANEHIRO Fumio

Journal of the Robotics Society of Japan　Vol. 26　No. 1　p. 98-109　2007/12/30

Motion Suspension System for Humanoids : Real-time Judgment and Motion Generation to suspend Humanoids

KANEKO Kenji, KANEHIRO Fumio, MORISAWA Mitsuharu, KAJITA Shuuji, FUJIWARA Kiyoshi, HARADA Kensuke, HIRUKAWA Hirohisa

Journal of the Robotics Society of Japan　Vol. 25　No. 2　p. 289-298　2007/03/01

Real-time planning of humanoid robot's gait for force-controlled manipulation

Kensuke Harada, Shuuji Kajita, Furnio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa

IEEE-ASME TRANSACTIONS ON MECHATRONICS　Vol. 12　No. 1　p. 53-62　2007/02　Research paper (scientific journal)

Motion planning for walking pattern generation of humanoid robots

Kensuke Harada, Shizuko Hattori, Hirohisa Hirukawa, Mitsuharu Morisawa, Shuuji Kajita, Eiichi Yoshida

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　p. 4233-4239　2007　Research paper (international conference proceedings)

Motion planning for walking pattern generation of humanoid robots

Kensuke Harada, Shizuko Hattori, Hirohisa Hirukawa, Mitsuharu Morisawa, Shuuji Kajita, Eiichi Yoshida

IEEE International Conference on Intelligent Robots and Systems　p. 4227-4233　2007　Research paper (international conference proceedings)

An optimal planning of falling motions of a humanoid robot

Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka, Hirohisa Hirukawa

2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9　p. 462-468　2007　Research paper (international conference proceedings)

Experimentation of humanoid walking allowing immediate modification of foot place based on analytical solution

Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Shinichiro Nakaoka, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　p. 3989-+　2007　Research paper (international conference proceedings)

A pattern generator of humanoid robots walking on a rough terrain

Hirohisa Hirukawa, Shizuko Hattori, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, Shinichiro Nakaoka

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　p. 2181-+　2007　Research paper (international conference proceedings)

Development of multi-fingered hand for life-size humanoid robots

Kenji Kaneko, Kensuke Harada, Fumio Kanehiro

PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10　p. 913-920　2007　Research paper (international conference proceedings)

Object Manipulation under Hybrid Active/Passive Closure

Watanabe Tetsuyou, Harada Kensuke, Jiang ZhongWei, Yoshikawa Tsuneo

Journal of the Robotics Society of Japan　Vol. 25　No. 4　p. 643-650　2007

Pushing manipulation for multiple objects

Kensuke Harada, Jun Nishiyama, Yoshihiro Murakami, Makoto Kaneko

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME　Vol. 128　No. 2　p. 422-427　2006/06　Research paper (scientific journal)

Dynamics and balance of a humanoid robot during manipulation tasks

Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa

IEEE TRANSACTIONS ON ROBOTICS　Vol. 22　No. 3　p. 568-575　2006/06　Research paper (scientific journal)

Effects of the Bank of Japan's intervention on yen/dollar exchange rate volatility

T Watanabe, K Harada

JOURNAL OF THE JAPANESE AND INTERNATIONAL ECONOMIES　Vol. 20　No. 1　p. 99-111　2006/03　Research paper (scientific journal)

An analytical method for real-time gait planning for humanoid robots

Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa

INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS　Vol. 3　No. 1　p. 1-19　2006/03　Research paper (scientific journal)

Mechanics of Hybrid Active/Passive-Closure Grasps

WATANABE Tetsuyou, HARADA Kensuke, JIANG Zhongwei, YOSHIKAWA Tsuneo

Journal of the Robotics Society of Japan　Vol. 24　No. 1　p. 131-139　2006/01/15

Integration of manipulation and locomotion by a humanoid robot

Kensuke Harada, Shuuji Kajita, Hajime Saito, Fumio Kanehiro, Hirohisa Hirukawa

Springer Tracts in Advanced Robotics　Vol. 21　p. 187-197　2006　Research paper (scientific journal)

Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots.

Kris K. Hauser, Timothy Bretl, Kensuke Harada, Jean-Claude Latombe

Algorithmic Foundation of Robotics VII, Selected Contributions of the Seventh International Workshop on the Algorithmic Foundations of Robotics, WAFR 2006, July 16-18, 2006, New York, NY, USA　p. 507-522　2006

Towards whole arm manipulation by contact state transition

Tetsuyou Watanabe, Kensuke Harada, Tsuneo Yoshikawa, Zhongwei Jiang

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　p. 5682-+　2006　Research paper (international conference proceedings)

Motion suspension system for humanoids in case of emergency - Real-time motion generation and judgment to suspend humanoid

Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　p. 5496-+　2006　Research paper (international conference proceedings)

Biped walking pattern generator allowing auxiliary ZMP control

Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　p. 2993-+　2006　Research paper (international conference proceedings)

Motion planning of emergency stop for humanoid robot by state space approach

Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　p. 2986-+　2006　Research paper (international conference proceedings)

Natural motion generation for humanoid robots

Kensuke Harada, Kris Hauser, Tim Bretl, Jean-Claude Latombe

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12　p. 833-+　2006　Research paper (international conference proceedings)

A universal stability criterion of the foot contact of legged robots - Adios ZMP

Hirohisa Hirukawa, Shizuko Hattori, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Mitsuharu Morisawa

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10　p. 1976-1983　2006　Research paper (international conference proceedings)

A biped pattern generation allowing immediate modification of foot placement in real-time

Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Shinichiro Nakaoka, Hirohisa Hirukawa

2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2　p. 581-+　2006　Research paper (international conference proceedings)

Towards an optimal falling motion for a humanoid robot

Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Furnio Kanehiro, Shinichiro Nakaoka, Hirohisa Hirukawa

2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2　p. 524-+　2006　Research paper (international conference proceedings)

The tele-operation of the humanoid robot - Whole body operation for humanoid robots in contact with environment

Hitoshi Hasunuma, Kensuke Harada, Hirohisa Hirukawa

2006 6TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2　p. 333-+　2006　Research paper (international conference proceedings)

Analytical Approach on Real-time Gait Planning for a Humanoid Robot

HARADA Kensuke, KAJITA Shuuji, MORISAWA Mitsuharu, KANEHIRO Fumio, FUJIWARA Kiyoshi, KANEKO Kenji, HIRUKAWA Hirohisa

Journal of the Robotics Society of Japan　Vol. 23　No. 6　p. 752-760　2005/09/15

A Human-size Humanoid Robot that can Fall over Backwards Safely

FUJIWARA Kiyoshi, KANEHIRO Fumio, KAJITA Shuuji, YOKOI Kazuhito, SAITO Hajime, HARADA Kensuke, HIRUKAWA Hirohisa, ISOZUMI Takakatsu

Journal of the Robotics Society of Japan　Vol. 23　No. 4　p. 427-434　2005/05/15

Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation

HARADA Kensuke, KAJITA Shuuji, KANEHIRO Fumio, FUJIWARA Kiyoshi, KANEKO Kenji, YOKOI Kazuhito, HIRUKAWA Hirohisa

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 71　No. 711　p. 3181-3188　2005

Emergency stop algorithm for walking humanoid robots

M Morisawa, S Kajita, K Harada, K Fujiwara, F Kanehiro, K Kaneko, H Hirukawa

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　p. 31-37　2005　Research paper (international conference proceedings)

Slip observer for walking on a low friction floor

K Kaneko, F Kanehiro, S Kajita, M Morisawa, K Fujiwara, K Harada, H Hirukawa

2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　p. 1457-1463　2005　Research paper (international conference proceedings)

Pattern generation of biped walking constrained on parametric surface

M Morisawa, S Kajita, K Kaneko, K Harada, F Karrehiro, K Fujiwara, H Hirukawa

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4　p. 2405-2410　2005　Research paper (international conference proceedings)

Humanoid robot carrying a heavy object

K Harada, S Kajita, H Saito, M Morisawa, F Kanehiro, K Fujiwara, K Kaneko, H Hirukawa

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4　p. 1712-1717　2005　Research paper (international conference proceedings)

Whole body locomotion planning of humanoid robots based on a 3D grid map

F Kanehiro, T Yoshimi, S Kajita, M Morisawa, K Fujiwara, K Harada, K Kaneko, H Hirukawa, F Tomita

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4　p. 1072-1078　2005　Research paper (international conference proceedings)

Object manipulation under hybrid active/passive closure

T Watanabe, K Harada, ZW Jiang, T Yoshikawa

2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4　p. 1013-1020　2005　Research paper (international conference proceedings)

Resolved Momenutm Control : Motion Generation of a Humanoid Robot based on the Linear and Angular Momenta

KAJITA Shuuji, KANEHIRO Fumio, KANEKO Kenji, FUJIWARA Kiyoshi, HARADA Kensuke, YOKOI Kazuhito, HIRUKAWA Hirohisa

Journal of the Robotics Society of Japan　Vol. 22　No. 6　p. 772-779　2004/08/29

Walking Motion for Pushing Manipulation by a Humanoid Robot

HARADA Kensuke, KAJITA Shuuji, KANEHIRO Fumio, FUJIWARA Kiyoshi, KANEKO Kenji, YOKOI Kazuhito, HIRUKAWA Hirohisa

Journal of the Robotics Society of Japan　Vol. 22　No. 3　p. 392-399　2004/04/15

Humanoid Robot that can Lie down and Get up

KANEHIRO Fumio, KANEKO Kenji, FUJIWARA Kiyoshi, HARADA Kensuke, KAJITA Shuuji, YOKOI Kazuhito, HIRUKAWA Hirohisa, AKACHI Kazuhiko, ISOZUMI Takakatsu

Journal of the Robotics Society of Japan　Vol. 22　No. 1　p. 37-45　2004/01/15

ZMP Analysis of a Humanoid Robot under Coordination of Arms and Legs

HARADA Kensuke, KAJITA Shuuji, KANEHIRO Fumio, FUJIWARA Kiyoshi, KANEKO Kenji, YOKOI Kazuhito, HIRUKAWA Hirohisa

Journal of the Robotics Society of Japan　Vol. 22　No. 1　p. 28-36　2004/01/15

Experiments on Dynamical Balance of a Humanoid Robot Grasping an Environment

Kensuke Harada, Hirohisa Hirukawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita

International Conference on Advanced Mechatronics　Vol. 2004　p. 31-31　2004

Biped walking on a low friction floor.

Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004　p. 3546-3552　2004

Dynamical balance of a humanoid robot grasping an environment.

Kensuke Harada, Hirohisa Hirukawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita, Masaru Nakamura

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28 - October 2, 2004　p. 1167-1173　2004

Falling motion control of a humanoid robot trained by virtual supplementary tests

Kiyoshi Fujiwara, Fumio Kanehiro, Hajime Saito, Shuuji Kajita, Kensuke Harada, Hirohisa Hirukawa

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004　2004　Research paper (international conference proceedings)

Real-time planning of humanoid robot's gait for force controlled manipulation

Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa

Proceedings of IEEE International Conference on Robotics and Automation　2004　Research paper (international conference proceedings)

Locomotion planning of humanoid robots to pass through narrow spaces

F Kanehiro, H Hirukawa, K Kaneko, S Kajita, K Fujiwara, K Harada, K Yokoi

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS　p. 604-609　2004　Research paper (international conference proceedings)

An analytical method on real-time gait planning for a humanoid robot

K Harada, S Kajita, K Kaneko, H Hirukawa

2004 4TH IEEE/RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS, VOLS 1 AND 2, PROCEEDINGS　p. 640-655　2004　Research paper (international conference proceedings)

Analysis of Internal Force in Whole Body Manipulation by a Human Type Robotic Mechanisms

HARADA Kensuke, KANEKO Makoto

Journal of the Robotics Society of Japan　Vol. 21　No. 6　p. 647-655　2003/09/15

Pushing Manipulation for Multiple Objects

HARADA Kensuke, NISHIYAMA Jun, MURAKAMI Yoshihiro, KANEKO Makoto

Transactions of the Japan Society of Mechanical Engineers. Series C.　Vol. 69　No. 677　p. 195-203　2003/01/25

Whole body manipulation

K Harada, M Kaneko

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS, INTELLIGENT SYSTEMS AND SIGNAL PROCESSING, VOLS 1 AND 2, PROCEEDINGS　p. 190-195　2003　Research paper (international conference proceedings)

The first human-size lumanoid that can fall over safely and stand-up again

K Fujiwara, F Kanehiro, S Kajita, K Yokoi, H Saito, K Harada, K Kaneko, H Hirukawa

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　p. 1920-1926　2003　Research paper (international conference proceedings)

Resolved momentum control: Humanoid motion planning based on the linear and angular momentum

S Kajita, F Kanehiro, K Kaneko, K Fujiwara, K Harada, K Yokoi, H Hirukawa

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　p. 1644-1650　2003　Research paper (international conference proceedings)

ZMP analysis for arm/leg coordination

K Harada, S Kajita, K Kaneko, H Hirukawa

IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　p. 75-81　2003　Research paper (international conference proceedings)

Experimental evaluation of the dynamic simulation of biped walking of humanoid robots

H Hirukawa, F Kanehiro, S Kajita, K Fujiwara, K Yokoi, K Kaneko, K Harada

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　p. 1640-1645　2003　Research paper (international conference proceedings)

The first humanoid robot that has the same size as a human and that can lie down and get up

F Kanehiro, K Kaneko, K Fujiwara, K Harada, S Kajita, K Yokoi, H Hirukawa, K Akachi, T Isozumi

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　p. 1633-1639　2003　Research paper (international conference proceedings)

Biped walking pattern generation by using preview control of zero-moment point

S Kajita, F Kanehiro, K Kaneko, K Fujiwara, K Harada, K Yokoi, H Hirukawa

2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS　p. 1620-1626　2003　Research paper (international conference proceedings)

A sufficient condition for manipulation of envelope family

K Harada, M Kaneko

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION　Vol. 18　No. 4　p. 597-607　2002/08　Research paper (scientific journal)

Rolling based manipulation under neighborhood equilibrium

K Harada, T Kawashima, M Kaneko

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH　Vol. 21　No. 5-6　p. 463-474　2002/05　Research paper (scientific journal)

Rolling Based Manipulation under Gravitational Equilibrium

HARADA Kensuke, KAWASHIMA Taiga, KANEKO Makoto

Journal of the Robotics Society of Japan　Vol. 20　No. 2　p. 42-50　2002/03/15

Tactile Differentiator

KANEKO Makoto, SAJIMA Toshihiko, HARADA Kensuke, TSUJI Toshio

Transactions of the Japan Society of Mechanical Engineers. Series C.　Vol. 68　No. 666　p. 447-453　2002/02/25

Active Force Closure for Multiple Objects

Kensuke Harada, Makoto Kaneko, Toshio Tsuji

Journal of Robotic Systems　Vol. 19　No. 3　p. 133-141　2002/02　Research paper (scientific journal)

Discovery of a Detaching Assist Motion (DAM) and Application for Robot Hands

SHIRAI Tatsuya, KANEKO Makoto, HARADA Kensuke, TSUJI Toshio

Journal of the Robotics Society of Japan　Vol. 20　No. 1　p. 57-64　2002/01/15　Research paper (scientific journal)

Torque distribution for achieving a Hugging Walk

M. Kaneko, A. Mizuno, K. Harada

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and System　2002　Research paper (international conference proceedings)

Manipulation of 3D enveloped object

K. Harada, M. Kaneko

Proceedings of 2002 IEEE/RSJ International Conference on Intelligent Robots and System　2002　Research paper (international conference proceedings)

Dynamic friction closure

M. Kaneko, K. Harada, T. Tsuji

Proceedings 2002 IEEE International Conference on Robotics and Automation　2002　Research paper (international conference proceedings)

A Sufficient Condition for Manipulation of Envelope Family

KANEKO Makoto, HARADA Kensuke, TSUJI Toshio

Journal of the Robotics Society of Japan　Vol. 19　No. 7　p. 863-873　2001/10/15

Manipulation of enveloped object with elasticity at contact points

K Harada, J Park, M Kaneko

PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL SYMPOSIUM ON ASSEMBLY AND TASK PLANNING (ISATP2001)　p. 190-195　2001　Research paper (international conference proceedings)

Gait transition from foot tip to Hugging Walk

M Kaneko, A Mizuno, K Harada, T Tsuji

MOBILE ROBOT TECHNOLOGY, PROCEEDINGS　p. 179-184　2001　Research paper (international conference proceedings)

Analysis of frictional forces in indeterminate enveloping grasps

J Park, K Harada, M Kaneko

IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4　p. 1882-1887　2001　Research paper (international conference proceedings)

A neuro-based adaptive training method for robotic rehabilitation aids

T. Tsuji, K. Harada, M. Kaneko

Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation　2001　Research paper (international conference proceedings)

Analysis on Detaching Assist Motion (DAM)

M Kaneko, T Shirai, K Harada, T Tsuji

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　p. 3028-3033　2001　Research paper (international conference proceedings)

Rolling based manipulation under Neighborhood Equilibrium

K Harada, M Kaneko

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　p. 2492-2498　2001　Research paper (international conference proceedings)

Enveloping grasp feasibility inequality

Park, J., Harada, K., Kaneko, M.

Proceedings - IEEE International Conference on Robotics and Automation　Vol. 3　2001　Research paper (scientific journal)

Learning of Virtual Impedance Parameters in Non - contact Impedance Control using Neural Networks

NOGUCHI Yuji, TSUJI Toshio, HARADA Kensuke, KANEKO Makoto

Journal of the Robotics Society of Japan　Vol. 18　No. 4　p. 561-568　2000/05/15

Manipulation for Multiple Objects

HARADA Kensuke, NAKANO Shinya, KANEKO Makoto, TSUJI Toshio

Journal of the Robotics Society of Japan　Vol. 18　No. 2　p. 78-85　2000/03/15

An Algorithm for Achieving Equilibrium Grasp for Pyramidal-like Objects

KANEKO Makoto, OKIMOTO Koyuru, HARADA Kensuke, TSUJI Toshio

Journal of the Robotics Society of Japan　Vol. 18　No. 1　p. 126-134　2000/01/15

Manipulation of enveloped multiple objects

K. Harada, S. Nakano, M. Kaneko, T. Tsuji

IECON Proceedings (Industrial Electronics Conference)　Vol. 1　p. 422-427　2000　Research paper (international conference proceedings)

Grasp and manipulation of multiple objects

M Kaneko, K Harada

ROBOTICS RESEARCH　p. 33-39　2000　Research paper (international conference proceedings)

Experimental approach on grasping and manipulating multiple objects

M Kaneko, K Harada, T Tsuji

EXPERIMENTAL ROBOTICS VI　Vol. 250　p. 47-55　2000　Research paper (scientific journal)

Grasp Strategy Simplified by Detaching Assist Motion (DAM).

Makoto Kaneko, Tatsuya Shirai, Kensuke Harada, Toshio Tsuji

Experimental Robotics VII [ISER 2000, Waikiki, Hawaii, USA, December 11-13, 2000]　p. 131-140　2000

Neighborhood Equilibrium Grasp for Multiple Objects.

Kensuke Harada, Makoto Kaneko

Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24-28, 2000, San Francisco, CA, USA　p. 2159-2164　2000

A Sufficient Condition for Manipulation of Envelope Family.

Makoto Kaneko, Kensuke Harada, Toshio Tsuji

Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24-28, 2000, San Francisco, CA, USA　p. 1060-1067　2000

Rolling-based manipulation for multiple objects

K. Harada, M. Kaneko, T. Tsujii

IEEE Transactions on Robotics and Automation　Vol. 16　No. 5　p. 457-468　2000　Research paper (scientific journal)

Active Force Closure for Multiple Objects

HARADA Kensuke, KANEKO Makoto, FURUTERA Koji, TSUJI Toshio

Journal of the Robotics Society of Japan　Vol. 17　No. 8　p. 1158-1166　1999/11/15

On-line Learning of Robot Arm Impedance Using Neural Networks

TSUJI Toshio, AKAMATSU Hiromasa, HARADA Kensuke, KANEKO Makoto

Journal of the Robotics Society of Japan　Vol. 17　No. 2　p. 234-241　1999/03/15

Equilibrium Grasp and its Robustness for Multiple Objects under Gravitational Field

HARADA Kensuke, KANEKO Makoto

Journal of the Robotics Society of Japan　Vol. 17　No. 1　p. pp.133-139　1999/01/15

Necessary and sufficient number of fingers for capturing pyramidal-like objects

M. Kaneko, M. Kessler, K. Harada, T. Tsuji

Proceedings of 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems　1998/10　Research paper (international conference proceedings)

Enveloping Grasp for Multiple Objects -Kinematics and Shovelling up Condition-

HARADA Kensuke, KANEKO Makoto

Journal of the Robotics Society of Japan　Vol. 16　No. 6　p. 860-867　1998/09/15

Enveloping grasp for multiple objects

K. Harada, M. Kaneko

Proceedings of 1998 IEEE International Conference on Robotics and Automation　1998/05　Research paper (international conference proceedings)

Internal Stabilization in Dynamic Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro System.

HARADA Kensuke, YOSHIKAWA Tsuneo

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 64　No. 620　p. 1327-1332　1998

Kinematics and internal force in grasping multiple objects

K. Harada, M. Kaneko

Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems.　1998　Research paper (international conference proceedings)

Grasp and manipulation for multiple objects

Makoto Kaneko, Tatsuya Shirai, Kensuke Harada, Toshio Tsuji

Advanced Robotics　Vol. 13　No. 3　p. 353-354　1998/01/01　Research paper (scientific journal)

Trajectory Control of Cartesian-Type Robotic Mechanisms with Flexible Joints.

YOSHIKAWA Tsuneo, HARADA Kensuke, HOSODA Koh, ICHIKAWA Masashi

TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C　Vol. 63　No. 612　p. 2801-2807　1997

Internal Stabilization in Dynamic Trajectory Control of Flexible Manipulators

HARADA Kensuke, YOSHIKAWA Tsuneo

Journal of the Robotics Society of Japan　Vol. 14　No. 3　p. 444-453　1996/04/15　Research paper (international conference proceedings)

Hybrid position/force control of flexible-macro/rigid-micro manipulator systems

T. Yoshikawa, K. Harada, A. Matsumoto

IEEE Transactions on Robotics and Automation　Vol. 12　No. 4　p. 633-640　1996　Research paper (scientific journal)

Quasi-Static Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System

YOSHIKAWA Tsuneo, HARADA Kensuke, MATSUMOTO Atsushi, MURAKAMI Hiroki

Transactions of the Society of Instrument and Control Engineers　Vol. 31　No. 8　p. 1129-1135　1995/08

Hybrid position/force control of flexible manipulators by macro-micro manipulator system

T. Yoshikawa, K. Hosoda, K. Harada, A. Matsumoto, H. Murakami

Proceedings of the 1994 IEEE International Conference on Robotics and Automation　1994/05　Research paper (international conference proceedings)

Trajectory control of Cartesian type industrial manipulators with flexible joints

T. Yoshikawa, K. Hosoda, K. Harada, M. Ichikawa

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)　1993/10　Research paper (international conference proceedings)