Kensuke Harada

387 papers A* 42A 48B 3C 4Journal 211Unranked 76
YearRankTypeTitle / Venue / Authors
2026 J jnl
3D layout planning for robotic workcells with task-aware motion optimization: Generalization and real implementation.
Robotics Comput. Integr. Manuf.
Radwa Ali, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada
2026 J jnl
Affordance-Guided Enveloping Grasp Demonstration Toward Non-destructive Disassembly of Pinch-Infeasible Mating Parts.
CoRR
Masaki Tsutsumi, Takuya Kiyokawa, Gen Sako, Kensuke Harada
2026 J jnl
Clearance-Adaptive Grasping of Clustered Objects Using Pin-Array Robotic Fingers Under Uncertainty.
IEEE Robotics Autom. Lett.
Zhengtao Hu, Yuyao Chen, Liang Du, Sheng Bao, Weiwei Wan, Kensuke Harada, Jianjun Yuan
2026 — conf
Depth Estimation for Picking Transparent Objects Using a Polarization Camera.
SII
Kento Yamada, Prasnaht Kumar, Yukiyasu Domae, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2026 J jnl
Designing and Validating a Self-Aligning Tool Changer for Modular Reconfigurable Manipulation Robots.
CoRR
Mahfudz Maskur, Takuya Kiyokawa, Kensuke Harada
2026 J jnl
Gait Generation Balancing Joint Load and Mobility for Legged Modular Robots with Easily Detachable Joints.
CoRR
Kennosuke Chihara, Takuya Kiyokawa, Kensuke Harada
2026 J jnl
Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning.
CoRR
Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2026 J jnl
Generalizable task-oriented object grasping through LLM-guided ontology and similarity-based planning.
Robotics Auton. Syst.
Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2026 — conf
Hierarchical Planning and Scheduling for Reconfigurable Multi-Robot Disassembly Systems under Structural Constraints.
SII
Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada, Genichiro Matsuda, Kensuke Harada
2026 J jnl
IKSel: Selecting Good Seed Joint Values for Fast Numerical Inverse Kinematics Iterations.
IEEE Trans Autom. Sci. Eng.
Xinyi Yuan, Weiwei Wan, Kensuke Harada
2026 J jnl
Industrial-Grade Robust Robot Vision for Screw Detection and Removal under Uneven Conditions.
CoRR
Tomoki Ishikura, Genichiro Matsuda, Takuya Kiyokawa, Kensuke Harada
2026 J jnl
Learning From Planned Data to Improve Robotic Pick-and-Place Planning Efficiency.
IEEE Robotics Autom. Lett.
Liang Qin, Weiwei Wan, Jun Takahashi, Ryo Negishi, Masaki Matsushita, Kensuke Harada
2026 J jnl
Many-objective-optimized semi-automated robotic disassembly sequences.
Robotics Auton. Syst.
Takuya Kiyokawa, Kensuke Harada, Weiwei Wan, Tomoki Ishikura, Naoya Miyaji, Genichiro Matsuda
2026 — conf
Modular Vacuum-Based Fixturing System for Adaptive Disassembly Workspace Integration.
SII
Haohui Pan, Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada, Genichiro Matsuda, Kensuke Harada
2026 J jnl
Replaceable Bit-Based Gripper for Picking Cluttered Food Items.
IEEE Robotics Autom. Lett.
Prashant Kumar, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2026 J jnl
Replaceable Bit-based Gripper for Picking Cluttered Food Items.
CoRR
Prashant Kumar, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2026 J jnl
Replanning Human-Robot Collaborative Tasks with Vision-Language Models via Semantic and Physical Dual-Correction.
CoRR
Taichi Kato, Takuya Kiyokawa, Namiko Saito, Kensuke Harada
2026 J jnl
Robotic Paper Wrapping by Learning Force Control.
IEEE Access
Hiroki Hanai, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2026 J jnl
Temperature driven multi-modal/single-actuated soft finger.
Robotics Auton. Syst.
Prashant Kumar, Weiwei Wan, Kensuke Harada
2025 J jnl
A Multi-Level Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning.
CoRR
Hao Chen, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada
2025 J jnl
A Multilevel Similarity Approach for Single-View Object Grasping: Matching, Planning, and Fine-Tuning.
IEEE Trans. Robotics
Hao Chen, Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada
2025 A* conf
Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning.
ICRA
Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2025 J jnl
Adaptive Grasping of Moving Objects in Dense Clutter via Global-to-Local Detection and Static-to-Dynamic Planning.
CoRR
Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2025 J jnl
Affordance-Guided Dual-Armed Disassembly Teleoperation for Mating Parts.
CoRR
Gen Sako, Takuya Kiyokawa, Kensuke Harada, Tomoki Ishikura, Naoya Miyaji, Genichiro Matsuda
2025 A conf
Assembly Sequence Planning Considering Robotic Motion Costs and Multi-Operation Constraints.
IROS
Haruto Nagai, Weiwei Wan, Hiroki Suemoto, Kouichi Masaoka, Kensuke Harada
2025 J jnl
Bimanual Regrasp Planning and Control for Active Reduction of Object Pose Uncertainty.
IEEE Robotics Autom. Lett.
Ryuta Nagahama, Weiwei Wan, Zhengtao Hu, Kensuke Harada
2025 J jnl
Bimanual Regrasp Planning and Control for Eliminating Object Pose Uncertainty.
CoRR
Ryuta Nagahama, Weiwei Wan, Zhengtao Hu, Kensuke Harada
2025 — conf
Cooking Task Planning using LLM and Verified by Graph Network.
CASE
Ryunosuke Takebayashi, Vitor Hideyo Isume, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2025 J jnl
Cooking Task Planning using LLM and Verified by Graph Network.
CoRR
Ryunosuke Takebayashi, Vitor Hideyo Isume, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2025 J jnl
Designing a Bending Machine for Forming Maxillofacial Surgery Plates.
IEEE Access
Bowen Yu, Weiwei Wan, Emiko Isomura, Kensuke Harada
2025 J jnl
Dexterous Manipulation of Deformable Objects via Pneumatic Gripping: Lifting by One End.
CoRR
Roman Mykhailyshyn, Jonathan Lee, Mykhailo Mykhailyshyn, Kensuke Harada, Ann Majewicz Fey
2025 J jnl
Functional Eigen-Grasping Using Approach Heatmaps.
IEEE Robotics Autom. Lett.
Malek Aburub, Kazuki Higashi, Weiwei Wan, Kensuke Harada
2025 J jnl
Hierarchical Planning and Scheduling for Reconfigurable Multi-Robot Disassembly Systems under Structural Constraints.
CoRR
Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada, Genichiro Matsuda, Kensuke Harada
2025 J jnl
IKSel: Selecting Good Seed Joint Values for Fast Numerical Inverse Kinematics Iterations.
CoRR
Xinyi Yuan, Weiwei Wan, Kensuke Harada
2025 J jnl
Learning from Planned Data to Improve Robotic Pick-and-Place Planning Efficiency.
CoRR
Liang Qin, Weiwei Wan, Jun Takahashi, Ryo Negishi, Masaki Matsushita, Kensuke Harada
2025 J jnl
Learning to Group and Grasp Multiple Objects.
CoRR
Takahiro Yonemaru, Weiwei Wan, Tatsuki Nishimura, Kensuke Harada
2025 J jnl
Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control.
CoRR
Rewida Ali, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2025 J jnl
Modular Vacuum-Based Fixturing System for Adaptive Disassembly Workspace Integration.
CoRR
Haohui Pan, Takuya Kiyokawa, Tomoki Ishikura, Shingo Hamada, Genichiro Matsuda, Kensuke Harada
2025 A conf
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control.
IROS
Xinyi Yuan, Zhiwei Shang, Zifan Wang, Chenkai Wang, Zhao Shan, Meixin Zhu, Chenjia Bai, Weiwei Wan, Kensuke Harada, Xuelong Li
2025 J jnl
Prompt2Craft: Generating Functional Craft Assemblies with LLMs.
CoRR
Vitor Hideyo Isume, Takuya Kiyokawa, Natsuki Yamanobe, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2025 J jnl
Robotic Paper Wrapping by Learning Force Control.
CoRR
Hiroki Hanai, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2025 J jnl
Shell-Type Soft Jig for Holding Objects during Disassembly.
CoRR
Takuya Kiyokawa, Ryunosuke Takebayashi, Kensuke Harada
2025 J jnl
Soft Regrasping Tool Inspired by Jamming Gripper.
CoRR
Takuya Kiyokawa, Zhengtao Hu, Weiwei Wan, Kensuke Harada
2025 J jnl
Special Issue on Technology for Food Handling Automation.
Adv. Robotics
Kazuyoshi Wada, Shinichi Hirai, Kensuke Harada, Máximo A. Roa, Pablo Valdivia y Alvarado
2025 — conf
Task and Grasp Constrained 3D Robotic Work-Cell Layout Planning.
CASE
Radwa Ali, Zhengtao Hu, Takuya Kiyokawa, Weiwei Wan, Tatsushi Nishi, Kensuke Harada
2025 J jnl
Temperature Driven Multi-modal/Single-actuated Soft Finger.
CoRR
Prashant Kumar, Weiwei Wan, Kensuke Harada
2025 — conf
Vibration Vanquished: Enhancing Grasping of Deformable Objects with Jet Gripper Technology.
CASE
Roman Mykhailyshyn, Jaroslav Romancik, Kensuke Harada, Ann Majewicz Fey
2025 — conf
Vision-Sensorless Bin-Picking System Using Compliant Fingers with Proximity Sensors.
SII
Michihisa Ohara, Keisuke Koyama, Kensuke Harada
2025 — conf
Vision-based Robotic Assembly from Novel Graphical Instructions.
SII
Chenxi Wang, Zhenting Wang, Takuya Kiyokawa, Weiwei Wan, Natsuki Yamanobe, Kensuke Harada
2025 J jnl
Zero-Shot Recognition of Test Tube Types by Automatically Collecting and Labeling RGB Data.
IEEE Robotics Autom. Lett.
Yu Tang, Weiwei Wan, Hao Chen, Masaki Matsushita, Jun Takahashi, Takeyuki Kotaka, Kensuke Harada
2024 J jnl
A closed-loop bin picking system for entangled wire harnesses using bimanual and dynamic manipulation.
Robotics Comput. Integr. Manuf.
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2024 — conf
Active Vapor-Based Robotic Wiper.
IRC
Takuya Kiyokawa, Hiroki Katayama, Jun Takamatsu, Kensuke Harada
2024 J jnl
Assembly Task Allocation for Human-Robot Collaboration Considering Stability and Assembly Complexity.
IEEE Access
Zhenting Wang, Takuya Kiyokawa, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada
2024 J jnl
Automatically Prepare Training Data for YOLO Using Robotic In-Hand Observation and Synthesis.
IEEE Trans Autom. Sci. Eng.
Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada
2024 — conf
CAD-Informed Uncertainty-Aware Sequence and Motion Planning for Robotic Assembly.
CASE
Takuya Kiyokawa, Ismael Rodríguez, Korbinian Nottensteiner, Peter Lehner, Thomas Eiband, Máximo A. Roa, Kensuke Harada
2024 J jnl
Compliant Peg-in-Hole Assembly Using a Very Soft Wrist.
IEEE Robotics Autom. Lett.
Qi Zhang, Zhengtao Hu, Weiwei Wan, Kensuke Harada
2024 J jnl
Component Selection for Craft Assembly Tasks.
CoRR
Vitor Hideyo Isume, Takuya Kiyokawa, Natsuki Yamanobe, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2024 J jnl
Component Selection for Craft Assembly Tasks.
IEEE Robotics Autom. Lett.
Vitor Hideyo Isume, Takuya Kiyokawa, Natsuki Yamanobe, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2024 J jnl
Deformability-Based Grasp Pose Detection From a Visible Image.
IEEE Access
Koshi Makihara, Yukiyasu Domae, Ryo Hanai, Ixchel Georgina Ramirez-Alpizar, Hirokatsu Kataoka, Kensuke Harada
2024 J jnl
Direction-Constrained Control for Efficient Physical Human-Robot Interaction under Hierarchical Tasks.
CoRR
Mengxin Xu, Weiwei Wan, Hesheng Wang, Kensuke Harada
2024 J jnl
Functional Eigen-Grasping Using Approach Heatmaps.
CoRR
Malek Aburub, Kazuki Higashi, Weiwei Wan, Kensuke Harada
2024 J jnl
Integrating a Pipette Into a Robot Manipulator With Uncalibrated Vision and TCP for Liquid Handling.
IEEE Trans Autom. Sci. Eng.
Junbo Zhang, Weiwei Wan, Nobuyuki Tanaka, Miki Fujita, Koichi Takahashi, Kensuke Harada
2024 J jnl
Many-Objective-Optimized Semi-Automated Robotic Disassembly Sequences.
CoRR
Takuya Kiyokawa, Kensuke Harada, Weiwei Wan, Tomoki Ishikura, Naoya Miyaji, Genichiro Matsuda
2024 J jnl
NBV/NBC Planning Considering Confidence Obtained From Shape Completion Learning.
IEEE Robotics Autom. Lett.
Ruishuang Liu, Chuan Li, Weiwei Wan, Jia Pan, Kensuke Harada
2024 J jnl
Reducing Uncertainty Using Placement and Regrasp Planning on a Triangular Corner Fixture.
IEEE Trans Autom. Sci. Eng.
Zhengtao Hu, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2024 J jnl
Robotic Test Tube Rearrangement Using Combined Reinforcement Learning and Motion Planning.
CoRR
Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada
2024 J jnl
Synergy Hand Using Fluid Network: Realization of Various Grasping/Manipulation Styles.
IEEE Access
Kazuki Higashi, Keisuke Koyama, Fanny Ficuciello, Ryuta Ozawa, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2024 J jnl
TAMP for 3D Curving - A Low-Payload Robot Arm Works Aside a Bending Machine to Curve High-Stiffness Metal Wires.
IEEE Trans Autom. Sci. Eng.
Ruishuang Liu, Weiwei Wan, Kensuke Harada
2024 — conf
Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions.
IRC
Takuya Kiyokawa, Mahiro Muta, Weiwei Wan, Kensuke Harada
2024 J jnl
Task-Difficulty-Aware Efficient Object Arrangement Leveraging Tossing Motions.
CoRR
Takuya Kiyokawa, Mahiro Muta, Weiwei Wan, Kensuke Harada
2023 J jnl
A Closed-Loop Bin Picking System for Entangled Wire Harnesses using Bimanual and Dynamic Manipulation.
CoRR
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2023 J jnl
A Dual-Arm Robot That Manipulates Heavy Plates With the Support of a Vacuum Lifter.
IEEE Trans Autom. Sci. Eng.
Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2023 A* conf
A Stiffness-Changeable Soft Finger Based on Chain Mail Jamming.
ICRA
Zhengtao Hu, Abdullah Ahmed, Weiwei Wan, Tetsuyou Watanabe, Kensuke Harada
2023 J jnl
Automatically Prepare Training Data for YOLO Using Robotic In-Hand Observation and Synthesis.
CoRR
Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada
2023 J jnl
Difficulty and complexity definitions for assembly task allocation and assignment in human-robot collaborations: A review.
Robotics Comput. Integr. Manuf.
Takuya Kiyokawa, Naoki Shirakura, Zhenting Wang, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Weiwei Wan, Kensuke Harada
2023 J jnl
Error Correction in Robotic Assembly Planning From Graphical Instruction Manuals.
IEEE Access
Zhenting Wang, Takuya Kiyokawa, Issei Sera, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada
2023 J jnl
Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient Payload.
CoRR
Kento Nakatsuru, Weiwei Wan, Kensuke Harada
2023 J jnl
In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors.
IEEE Access
Yuan Gao, Shogo Matsuoka, Weiwei Wan, Takuya Kiyokawa, Keisuke Koyama, Kensuke Harada
2023 — conf
In-Rack Test Tube Pose Estimation Using RGB-D Data.
ROBIO
Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada
2023 J jnl
In-Rack Test Tube Pose Estimation Using RGB-D Data.
CoRR
Hao Chen, Weiwei Wan, Masaki Matsushita, Takeyuki Kotaka, Kensuke Harada
2023 — conf
Industrial Bin Picking of Potential Entangled Objects in Dense Clutter by Skeletonized Shape Restoration.
ISER
Mizuki Takasu, Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2023 J jnl
Learning Efficient Policies for Picking Entangled Wire Harnesses: An Approach to Industrial Bin Picking.
IEEE Robotics Autom. Lett.
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2023 J jnl
Learning to Dexterously Pick or Separate Tangled-Prone Objects for Industrial Bin Picking.
CoRR
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2023 J jnl
Learning to Dexterously Pick or Separate Tangled-Prone Objects for Industrial Bin Picking.
IEEE Robotics Autom. Lett.
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2023 J jnl
M3R-CNN: on effective multi-modal fusion of RGB and depth cues for instance segmentation in bin-picking.
Adv. Robotics
Takao Nishi, Shinya Kawasaki, Kosuke Iewaki, Fumio Okura, Damien Petit, Yoichi Takano, Kensuke Harada
2023 J jnl
Multi-Step Object Extraction Planning From Clutter Based on Support Relations.
IEEE Access
Tomohiro Motoda, Damien Petit, Takao Nishi, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada
2023 — conf
Multi-objective geometric optimization of a multi-link robot manipulator considering dynamics performance.
ROBIO
Zixin Gao, Liang Du, Xiaomeng Hu, Zhengtao Hu, Sheng Bao, Kensuke Harada, Jianjun Yuan
2023 J jnl
Obtaining an Object's 3D Model Using Dual-Arm Robotic Manipulation and Stationary Depth Sensing.
IEEE Trans Autom. Sci. Eng.
Sho Kobayashi, Weiwei Wan, Takuya Kiyokawa, Keisuke Koyama, Kensuke Harada
2023 J jnl
Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap.
Sensors
Masato Tsuru, Adrien Escande, Iori Kumagai, Masaki Murooka, Kensuke Harada
2023 — conf
Planning Dense Object Packing by Pushing Objects.
CASE
Kazuki Iwao, Takao Nishi, Takuya Kiyokawa, Damien Petit, Weiwei Wan, Kensuke Harada
2023 A conf
Probabilistic Slide-support Manipulation Planning in Clutter.
IROS
Shusei Nagato, Tomohiro Motoda, Takao Nishi, Damien Petit, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2023 J jnl
Probabilistic Slide-support Manipulation Planning in Clutter.
CoRR
Shusei Nagato, Tomohiro Motoda, Takao Nishi, Damien Petit, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2023 J jnl
Special issue on online motion planning and model predictive control.
Adv. Robotics
Yuichi Tazaki, Kensuke Harada, Masaki Murooka, Adrien Escande
2023 J jnl
Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow's Buckling Into Consideration.
IEEE Access
Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2022 J jnl
A Dual-Arm Robot That Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks.
IEEE Trans Autom. Sci. Eng.
Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2022 J jnl
A Dual-Arm Robot that Manipulates Heavy Plates Cooperatively with a Vacuum Lifter.
CoRR
Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2022 J jnl
A Mechanical Screwing Tool for Parallel Grippers - Design, Optimization, and Manipulation Policies.
IEEE Trans. Robotics
Zhengtao Hu, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2022 J jnl
Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning Study.
CoRR
Cristian C. Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada
2022 — conf
An Optimization-based Motion Planner for a Mobile Manipulator to Perform Tasks During the Motion.
SII
Jingren Xu, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2022 J jnl
Arranging test tubes in racks using combined task and motion planning.
Robotics Auton. Syst.
Weiwei Wan, Takeyuki Kotaka, Kensuke Harada
2022 J jnl
Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task.
CoRR
Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2022 J jnl
Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task.
IEEE Robotics Autom. Lett.
Hao Chen, Takuya Kiyokawa, Weiwei Wan, Kensuke Harada
2022 J jnl
Challenges and Outlook in Robotic Manipulation of Deformable Objects.
IEEE Robotics Autom. Mag.
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
2022 A conf
Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images.
IROS
Kota Takata, Takuya Kiyokawa, Ixchel Georgina Ramirez-Alpizar, Natsuki Yamanobe, Weiwei Wan, Kensuke Harada
2022 J jnl
Fast pivoting gait generation by model predictive control designed with basis functions.
Adv. Robotics
Ang Zhang, Weiwei Wan, Kensuke Harada
2022 — conf
Food Arrangement Framework for Cooking Robots.
AIM
Hoshito Nagahama, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada
2022 J jnl
Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe.
Robotics
Kota Takata, Takuya Kiyokawa, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Weiwei Wan, Kensuke Harada
2022 J jnl
Grasp pose detection for deformable daily items by pix2stiffness estimation.
Adv. Robotics
Koshi Makihara, Yukiyasu Domae, Ixchel Georgina Ramirez-Alpizar, Toshio Ueshiba, Kensuke Harada
2022 J jnl
Integrating a Manual Pipette into a Collaborative Robot Manipulator for Flexible Liquid Dispensing.
CoRR
Junbo Zhang, Weiwei Wan, Nobuyuki Tanaka, Miki Fujita, Kensuke Harada
2022 A conf
Metal Wire Manipulation Planning for 3D Curving - A Low Payload Robot that Uses a Bending Machine to Bend High-Stiffness Wire.
IROS
Ruishuang Liu, Weiwei Wan, Emiko Isomura, Kensuke Harada
2022 J jnl
Metal Wire Manipulation Planning for 3D Curving - How a Low Payload Robot Can Use a Bending Machine to Bend Stiff Metal Wire.
CoRR
Ruishuang Liu, Weiwei Wan, Emiko Isomura, Kensuke Harada
2022 J jnl
Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators.
IEEE Trans Autom. Sci. Eng.
Hao Chen, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2022 J jnl
Prying Grasp for Picking Thin Object Using Thick Fingertips.
IEEE Robotics Autom. Lett.
Qi Zhang, Zhengtao Hu, Keisuke Koyama, Weiwei Wan, Kensuke Harada
2022 J jnl
Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens.
IEEE Trans. Robotics
Ruishuang Liu, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2022 J jnl
Shelf Replenishment Based on Object Arrangement Detection and Collapse Prediction for Bimanual Manipulation.
Robotics
Tomohiro Motoda, Damien Petit, Takao Nishi, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada
2022 J jnl
Special issue on industrial robot technology - selected papers from WRS 2020.
Adv. Robotics
Tokuo Tsuji, Kensuke Harada
2022 J jnl
Team O2AC at the world robot summit 2020: towards jigless, high-precision assembly.
Adv. Robotics
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
2021 J jnl
A Dual-arm Robot that Autonomously Lifts Up and Tumbles Heavy Plates Using Crane Pulley Blocks.
CoRR
Shogo Hayakawa, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2021 — conf
A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-Picking.
CASE
Xinyi Zhang, Keisuke Koyama, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2021 J jnl
A Topological Solution of Entanglement for Complex-shaped Parts in Robotic Bin-picking.
CoRR
Xinyi Zhang, Keisuke Koyama, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2021 J jnl
An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks.
Frontiers Robotics AI
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 A conf
Assembly Action Understanding from Fine-Grained Hand Motions, a Multi-camera and Deep Learning Approach.
IROS
Enrique Coronado, Kosuke Fukuda, Ixchel Georgina Ramirez-Alpizar, Natsuki Yamanobe, Gentiane Venture, Kensuke Harada
2021 A conf
Assembly Planning by Recognizing a Graphical Instruction Manual.
IROS
Issei Sera, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Zhenting Wang, Weiwei Wan, Kensuke Harada
2021 J jnl
Assembly Planning by Recognizing a Graphical Instruction Manual.
CoRR
Issei Sera, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Zhenting Wang, Weiwei Wan, Kensuke Harada
2021 — conf
Bimanual Shelf Picking Planner Based on Collapse Prediction.
CASE
Tomohiro Motoda, Damien Petit, Weiwei Wan, Kensuke Harada
2021 J jnl
Bimanual Shelf Picking Planner Based on Collapse Prediction.
CoRR
Tomohiro Motoda, Damien Petit, Weiwei Wan, Kensuke Harada
2021 J jnl
Challenges and Outlook in Robotic Manipulation of Deformable Objects.
CoRR
Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Xiang Li, Jia Pan, Wenzhen Yuan
2021 J jnl
Controlling Pivoting Gait Using Graph Model Predictive Control.
IEEE Access
Ang Zhang, Keisuke Koyama, Weiwei Wan, Kensuke Harada
2021 J jnl
Controlling Pivoting Gait using Graph Model Predictive Control.
CoRR
Ang Zhang, Keisuke Koyama, Weiwei Wan, Kensuke Harada
2021 — conf
Cooking Actions Inference based on Ingredient's Physical Features.
SII
Ixchel Georgina Ramirez-Alpizar, Ryosuke Hiraki, Kensuke Harada
2021 J jnl
Development of a shape-memorable adaptive pin array fixture.
Adv. Robotics
Peihao Shi, Zhengtao Hu, Kazuyuki Nagata, Weiwei Wan, Yukiyasu Domae, Kensuke Harada
2021 A conf
Efficient Picking by Considering Simultaneous Two-Object Grasping.
IROS
Takumi Sakamoto, Weiwei Wan, Takao Nishi, Kensuke Harada
2021 J jnl
Emerging Paradigms for Robotic Manipulation: From the Lab to the Productive World [From the Guest Editors].
IEEE Robotics Autom. Mag.
Maria Pozzi, Virginia Ruiz Garate, Arash Ajoudani, Kensuke Harada, Monica Malvezzi, Leonel Dario Rozo, Máximo A. Roa
2021 — conf
Error Identification and Recovery in Robotic Snap Assembly.
SII
Yusuke Hayami, Weiwei Wan, Keisuke Koyama, Peihao Shi, Juan Rojas, Kensuke Harada
2021 J jnl
Error Identification and Recovery in Robotic Snap Assembly.
CoRR
Yusuke Hayami, Weiwei Wan, Keisuke Koyama, Peihao Shi, Juan Rojas, Kensuke Harada
2021 J jnl
Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework.
IEEE Access
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 J jnl
Learning a Sequential Policy of Efficient Actions for Tangled-Prone Parts in Robotic Bin Picking.
CoRR
Xinyi Zhang, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2021 J jnl
Online Object Searching by a Humanoid Robot in an Unknown Environment.
IEEE Robotics Autom. Lett.
Masato Tsuru, Adrien Escande, Arnaud Tanguy, Kevin Chappellet, Kensuke Harada
2021 J jnl
Planning Grasps With Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes.
IEEE Trans. Robotics
Weiwei Wan, Kensuke Harada, Fumio Kanehiro
2021 J jnl
Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator.
IEEE Access
Jingren Xu, Yukiyasu Domae, Toshio Ueshiba, Weiwei Wan, Kensuke Harada
2021 — conf
Planning to Build Soma Blocks Using a Dual-arm Robot.
ICDL
Hao Chen, Weiwei Wan, Kensuke Harada
2021 J jnl
Planning to Flip Heavy Objects Considering Soft-Finger Contacts.
Int. J. Autom. Technol.
Mohamed Raessa, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2021 J jnl
Planning to Repose Long and Heavy Objects Considering a Combination of Regrasp and Constrained Drooping.
CoRR
Mohamed Raessa, Weiwei Wan, Kensuke Harada
2021 J jnl
Presenting Walking Route for VR Zombie.
IEICE Trans. Inf. Syst.
Nobuchika Sakata, Kohei Kanamori, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa
2021 A* conf
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning.
ICRA
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 J jnl
Robotic Imitation of Human Assembly Skills Using Hybrid Trajectory and Force Learning.
CoRR
Yan Wang, Cristian C. Beltran-Hernandez, Weiwei Wan, Kensuke Harada
2021 J jnl
Selecting and designing grippers for an assembly task in a structured approach.
Adv. Robotics
Jingren Xu, Weiwei Wan, Keisuke Koyama, Yukiyasu Domae, Kensuke Harada
2021 J jnl
Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants.
J. Robotics Netw. Artif. Life
Akira Nakamura, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Yukiyasu Domae
2020 J jnl
A Mechanical Screwing Tool for 2-Finger Parallel Grippers - Design, Optimization, and Manipulation Policies.
CoRR
Zhengtao Hu, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2020 J jnl
Arranging Test Tubes in Racks Using Combined Task and Motion Planning.
CoRR
Weiwei Wan, Takeyuki Kotaka, Kensuke Harada
2020 — conf
Assembly Motion Recognition Framework Using Only Images.
SII
Kosuke Fukuda, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada
2020 J jnl
Cost-oriented Planning for Error Recovery in an Automation Plant.
J. Robotics Netw. Artif. Life
Akira Nakamura, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Yukiyasu Domae
2020 J jnl
Development of a Shape-memorable Adaptive Pin Array Fixture.
CoRR
Peihao Shi, Zhengtao Hu, Kazuyuki Nagata, Weiwei Wan, Yukiyasu Domae, Kensuke Harada
2020 J jnl
Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Maneuver Tethered Tools.
CoRR
Daniel Sánchez, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2020 A conf
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands.
IROS
Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada
2020 J jnl
Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands.
CoRR
Kazuki Higashi, Keisuke Koyama, Ryuta Ozawa, Kazuyuki Nagata, Weiwei Wan, Kensuke Harada
2020 J jnl
Human-in-the-Loop Robotic Manipulation Planning for Collaborative Assembly.
IEEE Trans Autom. Sci. Eng.
Mohamed Raessa, Jimmy Chi Yin Chen, Weiwei Wan, Kensuke Harada
2020 J jnl
Integrating Combined Task and Motion Planning with Compliant Control.
CoRR
Hao Chen, Juncheng Li, Weiwei Wan, Zhifeng Huang, Kensuke Harada
2020 J jnl
Integrating combined task and motion planning with compliant control.
Int. J. Intell. Robotics Appl.
Hao Chen, Juncheng Li, Weiwei Wan, Zhifeng Huang, Kensuke Harada
2020 J jnl
Learning Contact-Rich Manipulation Tasks with Rigid Position-Controlled Robots: Learning to Force Control.
CoRR
Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Takayuki Nishi, Shinichi Kikuchi, Takamitsu Matsubara, Kensuke Harada
2020 J jnl
Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots.
IEEE Robotics Autom. Lett.
Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Takayuki Nishi, Shinichi Kikuchi, Takamitsu Matsubara, Kensuke Harada
2020 J jnl
Motion planning of skillful motions in assembly process through human demonstration.
Adv. Robotics
Yan Wang, Kensuke Harada, Weiwei Wan
2020 J jnl
Multi-Pen Robust Robotic 3D Drawing Using Closed-Loop Planning.
CoRR
Ruishuang Liu, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2020 J jnl
Planning a Sequence of Base Positions for a Mobile Manipulator to Perform Multiple Pick-and-Place Tasks.
CoRR
Jingren Xu, Yukiyasu Domae, Toshio Ueshiba, Weiwei Wan, Kensuke Harada
2020 A* conf
Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks.
ICRA
Jingren Xu, Kensuke Harada, Weiwei Wan, Toshio Ueshiba, Yukiyasu Domae
2020 J jnl
Planning an Efficient and Robust Base Sequence for a Mobile Manipulator Performing Multiple Pick-and-place Tasks.
CoRR
Jingren Xu, Kensuke Harada, Weiwei Wan, Toshio Ueshiba, Yukiyasu Domae
2020 J jnl
Planning to Build Soma Blocks Using a Dual-arm Robot.
CoRR
Hao Chen, Weiwei Wan, Keisuke Koyama, Kensuke Harada
2020 J jnl
Preparatory Manipulation Planning Using Automatically Determined Single and Dual Arm.
IEEE Trans. Ind. Informatics
Weiwei Wan, Kensuke Harada, Fumio Kanehiro
2020 — conf
Probabilistic Action/Observation Planning for Playing Yamakuzushi.
SII
Tomohiro Motoda, Weiwei Wan, Kensuke Harada
2020 J jnl
Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation.
Int. J. Humanoid Robotics
Daniel Sánchez, Weiwei Wan, Fumio Kanehiro, Kensuke Harada
2020 J jnl
Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps.
J. Robotics Netw. Artif. Life
Takumi Sakamoto, Kensuke Harada, Weiwei Wan
2020 J jnl
Selecting and Designing Grippers for an Assembly Task in a Structured Approach.
CoRR
Jingren Xu, Keisuke Koyama, Weiwei Wan, Yukiyasu Domae, Kensuke Harada
2020 J jnl
Special issue on Industrial Robot Technology-Selected Papers from WRS 2018.
Adv. Robotics
Tetsuyou Watanabe, Kensuke Harada, Tokuo Tsuji
2020 J jnl
Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools.
CoRR
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 Georgina Ramirez-Alpizar, Weiwei Wan, Kensuke Harada
2020 J jnl
Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools.
Adv. Robotics
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 Georgina Ramirez-Alpizar, Weiwei Wan, Kensuke Harada
2020 J jnl
Team O2AS' approach for the task-board task of the World Robot Challenge 2018.
Adv. Robotics
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 Georgina Ramirez-Alpizar, Weiwei Wan, Kensuke Harada
2020 J jnl
Tethered Tool Manipulation Planning With Cable Maneuvering.
IEEE Robotics Autom. Lett.
Daniel Sánchez, Weiwei Wan, Kensuke Harada
2020 J jnl
Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer.
Robotics
Daniel Sánchez, Weiwei Wan, Kensuke Harada
2020 J jnl
User Interface and Motion Planner for Task Database.
J. Robotics Netw. Artif. Life
Tokuo Tsuji, Natsuki Yamanobe, Kei Ikeda, Kensuke Harada
2020 J jnl
Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach.
CoRR
Cristian Camilo Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada
2019 J jnl
A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly.
IEEE Robotics Autom. Lett.
Kaidi Nie, Weiwei Wan, Kensuke Harada
2019 J jnl
A regrasp planning component for object reorientation.
Auton. Robots
Weiwei Wan, Hisashi Igawa, Kensuke Harada, Hiromu Onda, Kazuyuki Nagata, Natsuki Yamanobe
2019 — conf
Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool.
Humanoids
Hao Chen, Weiwei Wan, Kensuke Harada
2019 J jnl
Combined Task and Motion Planning for a Dual-arm Robot to Use a Suction Cup Tool.
CoRR
Hao Chen, Weiwei Wan, Kensuke Harada
2019 — conf
Constrained Motion Planning for Flipping Stick-like Objects.
ARSO
Mohamed Raessa, Weiwei Wan, Kensuke Harada
2019 — conf
Designing Grasping Tools for Robotic Assembly Based on Shape Analysis of Parts.
Humanoids
Kento Nakayama, Weiwei Wan, Kensuke Harada
2019 J jnl
Designing a Mechanical Tool for Robots With Two-Finger Parallel Grippers.
IEEE Robotics Autom. Lett.
Zhengtao Hu, Weiwei Wan, Kensuke Harada
2019 J jnl
Designing a Mechanical Tool for Robots with 2-Finger Parallel Grippers.
CoRR
Zhengtao Hu, Weiwei Wan, Kensuke Harada
2019 A conf
Dual-arm Assembly Planning Considering Gravitational Constraints.
IROS
Ryota Moriyama, Weiwei Wan, Kensuke Harada
2019 J jnl
Dual-arm Assembly Planning Considering Gravitational Constraints.
CoRR
Ryota Moriyama, Weiwei Wan, Kensuke Harada
2019 J jnl
Human-in-the-loop Robotic Manipulation Planning for Collaborative Assembly.
CoRR
Mohamed Raessa, Jimmy Chi Yin Chen, Weiwei Wan, Kensuke Harada
2019 J jnl
Humanoid walking pattern generation based on model predictive control approximated with basis functions.
Adv. Robotics
Ang Zhang, Ixchel Georgina Ramirez-Alpizar, Kevin Giraud-Esclasse, Olivier Stasse, Kensuke Harada
2019 A conf
Learning Based Robotic Bin-picking for Potentially Tangled Objects.
IROS
Ryo Matsumura, Yukiyasu Domae, Weiwei Wan, Kensuke Harada
2019 — conf
Learning to Grasp with Primitive Shaped Object Policies.
SII
Cristian C. Beltran-Hernandez, Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada
2019 — conf
Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process.
Humanoids
Yan Wang, Kensuke Harada, Weiwei Wan
2019 J jnl
Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process.
CoRR
Yan Wang, Kensuke Harada, Weiwei Wan
2019 J jnl
Motion-Data Driven Grasp/Assembly Planner.
J. Robotics Netw. Artif. Life
Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel Georgina Ramirez-Alpizar, Tokuo Tsuji
2019 — conf
Multi-contact Stability of Humanoids using ZMP and CWC.
Humanoids
Zhenting Wang, Kensuke Harada, Weiwei Wan
2019 J jnl
Planning Grasps for Assembly Tasks.
CoRR
Weiwei Wan, Kensuke Harada, Fumio Kanehiro
2019 A conf
Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data.
IROS
Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada
2019 J jnl
Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data.
CoRR
Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada
2019 B conf
Realizing an assembly task through virtual capture.
SMC
Damien Petit, Ixchel Georgina Ramirez-Alpizar, Wataru Kamei, Qiming He, Kensuke Harada
2019 — conf
Recognition of Assembly Tasks Based on the Actions Associated to the Manipulated Objects.
SII
Kosuke Fukuda, Ixchel Georgina Ramirez-Alpizar, Natsuki Yamanobe, Damien Petit, Kazuyuki Nagata, Kensuke Harada
2019 J jnl
Regrasp Planning Using Stable Object Poses Supported by Complex Structures.
IEEE Trans. Cogn. Dev. Syst.
Jiayao Ma, Weiwei Wan, Kensuke Harada, Qiuguo Zhu, Hong Liu
2019 J jnl
Special issue on artificial intelligence and machine learning for robotic manipulation.
Adv. Robotics
Akihiko Yamaguchi, Takamitsu Matsubara, Nikolaus Vahrenkamp, Oliver Kroemer, Kensuke Harada
2019 J jnl
Special issue on real-world application.
Adv. Robotics
Kensuke Harada
2019 — conf
Speech-Driven Facial Animation by LSTM-RNN for Communication Use.
APMAR
Ryosuke Nishimura, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa
2019 A* conf
Speech-Driven Facial Animation by LSTM-RNN for Communication Use.
VR
Ryosuke Nishimura, Nobuchika Sakata, Kensuke Harada, Tomu Tominaga, Kiyoshi Kiyokawa, Yoshinori Hijikata
2019 J jnl
Teaching a robot to use electric tools with regrasp planning.
CAAI Trans. Intell. Technol.
Mohamed Raessa, Daniel Sánchez, Weiwei Wan, Damien Petit, Kensuke Harada
2019 J jnl
Tethered Tool Manipulation Planning with Cable Maneuvering.
CoRR
Daniel Sánchez, Weiwei Wan, Kensuke Harada
2019 J jnl
Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery.
J. Robotics Netw. Artif. Life
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Yukiyasu Domae
2019 — conf
Visually Guided Extrinsic Manipulation for Assembly Tasks.
ICARM
Mohamed Raessa, Damien Petit, Weiwei Wan, Kensuke Harada
2019 — conf
Walking Assist Method for VR Zombie.
APMAR
Kohei Kanamori, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa
2018 — conf
A Double Jaw Hand Designed for Multi-Object Assembly.
Humanoids
Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada
2018 J jnl
A Double Jaw Hand Designed for Multi-object Assembly.
CoRR
Joshua C. Triyonoputro, Weiwei Wan, Kensuke Harada
2018 — conf
A Double-jaw Hand that Mimics A Mouth of the Moray Eel.
ROBIO
Joshua C. Triyonoputro, Weiwei Wan, Kantapon Akanesuvan, Kensuke Harada
2018 J jnl
A Hand Combining Two Simple Grippers to Pick up and Arrange Objects for Assembly.
CoRR
Kaidi Nie, Weiwei Wan, Kensuke Harada
2018 — conf
A virtual capture framework for assembly tasks.
CASE
Damien Petit, Ixchel Georgina Ramirez-Alpizar, Qiming He, Kensuke Harada
2018 A conf
An Adaptive Robotic Gripper with L-Shape Fingers for Peg-in-Hole Tasks.
IROS
Kaidi Nie, Weiwei Wan, Kensuke Harada
2018 J jnl
Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer.
CoRR
Daniel Sánchez, Weiwei Wan, Kensuke Harada
2018 — conf
Deep Learning Scooping Motion Using Bilateral Teleoperations.
ICARM
Hitoe Ochi, Weiwei Wan, Yajue Yang, Natsuki Yamanobe, Jia Pan, Kensuke Harada
2018 J jnl
Deep Learning Scooping Motion using Bilateral Teleoperations.
CoRR
Hitoe Ochi, Weiwei Wan, Yajue Yang, Natsuki Yamanobe, Jia Pan, Kensuke Harada
2018 J jnl
Experiments on Learning Based Industrial Bin-picking with Iterative Visual Recognition.
CoRR
Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda
2018 J jnl
Experiments on learning-based industrial bin-picking with iterative visual recognition.
Ind. Robot
Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda
2018 — conf
Force Control Law Selection for Elastic Part Assembly from Human Data and Parameter Optimization.
Humanoids
Yasuhiko Fukumoto, Kensuke Harada
2018 — conf
Industry 4.0, Intelligent Visual Assisted Picking Approach.
MIKE
Mario Arbulú, Paola Mateus, Manuel Wagner, Cristian Beltran, Kensuke Harada
2018 C conf
Learning Based Industrial Bin-Picking Trained with Approximate Physics Simulator.
IAS
Ryo Matsumura, Kensuke Harada, Yukiyasu Domae, Weiwei Wan
2018 J jnl
Learning Based Industrial Bin-picking Trained with Approximate Physics Simulator.
CoRR
Ryo Matsumura, Kensuke Harada, Yukiyasu Domae, Weiwei Wan
2018 A* conf
Obstacle Avoidance Method in Real Space for Virtual Reality Immersion.
ISMAR
Kohei Kanamori, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa
2018 J jnl
Optimizing the Motion for Robotic Snap Assembly Using FEM.
J. Robotics Netw. Artif. Life
Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez, Juan Rojas, Hiromu Onda
2018 J jnl
Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms.
CoRR
Weiwei Wan, Kensuke Harada, Fumio Kanehiro
2018 B conf
Real Friendship and Virtual Friendship: Differences in Similarity of Contents/People and Proposal of Classification Models on SNS.
WI
Takafumi Komori, Yoshinori Hijikata, Tomu Tominaga, Shogoro Yoshida, Nobuchika Sakata, Kensuke Harada
2018 — conf
Regrasp Planning Considering Bipedal Stability Constraints.
Humanoids
Daniel Sánchez, Weiwei Wan, Kensuke Harada, Fumio Kanehiro
2018 J jnl
Regrasp Planning Considering Bipedal Stability Constraints.
CoRR
Daniel Sánchez, Weiwei Wan, Kensuke Harada, Fumio Kanehiro
2018 J jnl
Technique of Recovery Process and Application of AI in Error Recovery Using Task Stratification and Error Classification.
J. Robotics Netw. Artif. Life
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
2018 C conf
Tool Exchangeable Grasp/Assembly Planner.
IAS
Kensuke Harada, Kento Nakayama, Weiwei Wan, Kazuyuki Nagata, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar
2018 J jnl
Tool Exchangeable Grasp/Assembly Planner.
CoRR
Kensuke Harada, Kento Nakayama, Weiwei Wan, Kazuyuki Nagata, Natsuki Yamanobe, Ixchel Georgina Ramirez-Alpizar
2018 — conf
Walking Support in Real Space Using Social Force Model When Wearing Immersive HMD.
ISMAR Adjunct
Kohei Kanamori, Nobuchika Sakata, Tomu Tominaga, Yoshinori Hijikata, Kensuke Harada, Kiyoshi Kiyokawa
2017 J jnl
A brief review of affordance in robotic manipulation research.
Adv. Robotics
Natsuki Yamanobe, Weiwei Wan, Ixchel Georgina Ramirez-Alpizar, Damien Petit, Tokuo Tsuji, Shuichi Akizuki, Manabu Hashimoto, Kazuyuki Nagata, Kensuke Harada
2017 J jnl
Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification.
J. Robotics Netw. Artif. Life
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
2017 — conf
Extracting grasping, contact points and objects motion from assembly demonstration.
CASE
Damien Petit, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata
2017 J jnl
Online Robot Introspection via Wrench-based Action Grammars.
CoRR
Juan Rojas, Shuangqi Luo, Dingqiao Zhu, Yunlong Du, Hongbin Lin, Zhengjie Huang, Wenwei Kuang, Kensuke Harada
2017 A conf
Online robot introspection via wrench-based action grammars.
IROS
Juan Rojas, Shuangqi Luo, Dingqiao Zhu, Yunlong Du, Hongbin Lin, Zhengjie Huang, Wenwei Kuang, Kensuke Harada
2017 J jnl
Regrasp Planning using 10, 000s of Grasps.
CoRR
Weiwei Wan, Kensuke Harada
2017 A conf
Regrasp planning using 10, 000s of grasps.
IROS
Weiwei Wan, Kensuke Harada
2017 J jnl
Robot Introspection with Bayesian Nonparametric Vector Autoregressive Hidden Markov Models.
CoRR
Hongmin Wu, Juan Rojas, Hongbin Lin, Kensuke Harada
2017 — conf
Robot introspection with Bayesian nonparametric vector autoregressive hidden Markov models.
Humanoids
Hongmin Wu, Hongbin Lin, Yisheng Guan, Kensuke Harada, Juan Rojas
2017 — conf
Self-locking underactuated mechanism for robotic gripper.
AIM
Jui Hsu, Eiichi Yoshida, Kensuke Harada, Abderrahmane Kheddar
2017 J jnl
Special issue on advanced manipulation.
Adv. Robotics
Kensuke Harada, Máximo A. Roa, Akihiko Yamaguchi
2017 J jnl
Teaching robots to do object assembly using multi-modal 3D vision.
Neurocomputing
Weiwei Wan, Feng Lu, Zepei Wu, Kensuke Harada
2017 J jnl
The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification.
J. Robotics Netw. Artif. Life
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
2017 J jnl
Using simplified geometric models in skill-based manipulation for objects used in daily life.
Artif. Intell. Res.
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
2016 J jnl
A Mid-level Planning System for Object Reorientation.
CoRR
Weiwei Wan, Hisashi Igawa, Kensuke Harada, Zepei Wu, Hiromu Onda, Kazuyuki Nagata, Natsuki Yamanobe
2016 — conf
A framework for systematic accumulation, sharing and reuse of task implementation knowledge.
SII
Ryo Hanai, Kensuke Harada
2016 J jnl
Achieving high success rate in dual-arm handover using large number of candidate grasps, handover heuristics, and hierarchical search.
Adv. Robotics
Weiwei Wan, Kensuke Harada
2016 A conf
An empirical comparison among the effect of different supports in sequential robotic manipulation.
IROS
Chao Cao, Weiwei Wan, Jia Pan, Kensuke Harada
2016 A* conf
Analyzing the utility of a support pin in sequential robotic manipulation.
ICRA
Chao Cao, Weiwei Wan, Jia Pan, Kensuke Harada
2016 J jnl
Assembly Sequence Planning for Motion Planning.
CoRR
Weiwei Wan, Kensuke Harada, Kazuyuki Nagata
2016 J jnl
Developing and Comparing Single-Arm and Dual-Arm Regrasp.
IEEE Robotics Autom. Lett.
Weiwei Wan, Kensuke Harada
2016 — ch.
Humanoids.
Springer Handbook of Robotics, 2nd Ed.
Paul M. Fitzpatrick, Kensuke Harada, Charles C. Kemp, Yoshio Matsumoto, Kazuhito Yokoi, Eiichi Yoshida
2016 J jnl
Initial Experiments on Learning-Based Randomized Bin-Picking Allowing Finger Contact with Neighboring Objects.
CoRR
Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda
2016 — conf
Initial experiments on learning-based randomized bin-picking allowing finger contact with neighboring objects.
CASE
Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda
2016 — conf
Integrated single-arm assembly and manipulation planning using dynamic regrasp graphs.
RCAR
Weiwei Wan, Kensuke Harada
2016 — conf
Iterative Visual Recognition for Learning Based Randomized Bin-Picking.
ISER
Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda
2016 J jnl
Iterative Visual Recognition for Learning Based Randomized Bin-Picking.
CoRR
Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda
2016 J jnl
Modeling development process of skill-based system for human-like manipulation robot.
Adv. Robotics
Ryo Hanai, Hisashi Suzuki, Yoshihiro Nakabo, Kensuke Harada
2016 — conf
Motion generation for pulling a fire hose by a humanoid robot.
Humanoids
Ixchel Georgina Ramirez-Alpizar, Maximilien Naveau, Christophe Benazeth, Olivier Stasse, Jean-Paul Laumond, Kensuke Harada, Eiichi Yoshida
2016 J jnl
Proposal of a shape adaptive gripper for robotic assembly tasks.
Adv. Robotics
Kensuke Harada, Kazuyuki Nagata, Juan Rojas, Ixchel Georgina Ramirez-Alpizar, Weiwei Wan, Hiromu Onda, Tokuo Tsuji
2016 J jnl
Robot Contact Task State Estimation via Action Grammars.
CoRR
Juan Rojas, Zhengjie Huang, Kensuke Harada
2016 J jnl
Robot Introspection via Wrench-based Action Grammars.
CoRR
Juan Rojas, Zhengjie Huang, Shuangqi Luo, Yunlong Du, Wenwei Kuang, Dingqiao Zhu, Kensuke Harada
2016 — conf
Robot contact task state estimation via position-based action grammars.
Humanoids
Juan Rojas, Zhengjie Huang, Kensuke Harada
2016 A* conf
Rope caging and grasping.
ICRA
Tsz-Ho Kwok, Weiwei Wan, Jia Pan, Charlie C. L. Wang, Jianjun Yuan, Kensuke Harada, Yong Chen
2016 J jnl
Special Issue on Recent Advancements on Industrial Robot Technology.
Adv. Robotics
Kensuke Harada, Katja D. Mombaur, Takayuki Matsuno, Dinesh Manocha
2016 J jnl
Teaching Robots to Do Object Assembly using Multi-modal 3D Vision.
CoRR
Weiwei Wan, Feng Lu, Zepei Wu, Kensuke Harada
2015 J jnl
Analyzing the Utility of a Support Pin in Sequential Robotic Manipulation.
CoRR
Chao Cao, Weiwei Wan, Jia Pan, Kensuke Harada
2015 — conf
Base position planning for dual-arm mobile manipulators performing a sequence of pick-and-place tasks.
Humanoids
Kensuke Harada, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda, Yoshihiro Kawai
2015 J jnl
Developing and Comparing Single-arm and Dual-arm Regrasp.
CoRR
Weiwei Wan, Kensuke Harada
2015 — conf
Divide-and-conquer manipulation planning by lazily searching a weighted two-layer manipulation graph.
ARSO
Weiwei Wan, Kensuke Harada
2015 J jnl
Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning.
J. Robotics Netw. Artif. Life
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
2015 A* conf
Experimental investigation of effect of fingertip stiffness on resistible force in grasping.
ICRA
Yoshinori Fujihira, Kensuke Harada, Tokuo Tsuji, Tetsuyou Watanabe
2015 A conf
Grasp stability evaluation based on energy tolerance in potential field.
IROS
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'ichi Morooka, Ryo Kurazume
2015 — conf
Optimizing the parameters of tilting surfaces in robotic workcells.
CASE
Weiwei Wan, Ernest C. H. Cheung, Jia Pan, Kensuke Harada
2015 — conf
Reorientating objects with a gripping hand and a table surface.
Humanoids
Weiwei Wan, Kensuke Harada
2015 — conf
Simulation-based optimal motion planning for deformable object.
ARSO
Eiichi Yoshida, Ko Ayusawa, Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Christian Duriez, Abderrahmane Kheddar
2014 A* conf
A manipulation motion planner for dual-arm industrial manipulators.
ICRA
Kensuke Harada, Tokuo Tsuji, Jean-Paul Laumond
2014 — conf
Contextualized early failure characterization of cantilever snap assemblies.
Humanoids
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata
2014 A* conf
Early failure characterization of cantilever snap assemblies using the PA-RCBHT.
ICRA
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata
2014 A conf
Grasp planning for constricted parts of objects approximated with quadric surfaces.
IROS
Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa, Ken'ichi Morooka
2014 — book
Introduction to Humanoid Robotics
Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi
2014 J jnl
Model-Based Optimization for Robotics [TC Spotlight].
IEEE Robotics Autom. Mag.
Katja D. Mombaur, Abderrahmane Kheddar, Kensuke Harada, Thomas Buschmann, Christopher G. Atkeson
2014 B conf
Modeling of everyday objects for semantic grasp.
RO-MAN
Yohei Shiraki, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Kensuke Harada, Daisuke Sato, Dragomir N. Nenchev
2014 — conf
Motion planning for dual-arm assembly of ring-shaped elastic objects.
Humanoids
Ixchel Georgina Ramirez-Alpizar, Kensuke Harada, Eiichi Yoshida
2014 A* conf
Stability of soft-finger grasp under gravity.
ICRA
Kensuke Harada, Tokuo Tsuji, Soichiro Uto, Natsuki Yamanobe, Kazuyuki Nagata, Kosei Kitagaki
2014 — conf
Strategies, controllers, and coordination: Bi-manual snap assembly automation.
ROBIO
Juan Rojas, TianQiang Guan, Weiqiang Luo, Kensuke Harada
2014 J jnl
Validating an object placement planner for robotic pick-and-place tasks.
Robotics Auton. Syst.
Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Hiromu Onda
2013 A conf
Error recovery using task stratification and error classification for manipulation robots in various fields.
IROS
Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe, Tokuo Tsuji, Torea Foissotte, Yoshihiro Kawai
2013 — conf
Grasp planning using quadric surface approximation for parallel grippers.
ROBIO
Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa
2013 A* conf
Probabilistic approach for object bin picking approximated by cylinders.
ICRA
Kensuke Harada, Kazuyuki Nagata, Tokuo Tsuji, Natsuki Yamanobe, Akira Nakamura, Yoshihiro Kawai
2013 J jnl
Towards snap sensing.
Int. J. Mechatronics Autom.
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai
2012 A conf
A relative-change-based hierarchical taxonomy for cantilever-snap assembly verification.
IROS
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai
2012 — conf
Gradient calibration for the RCBHT cantilever snap verification system.
ROBIO
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai
2012 A conf
Object placement planner for robotic pick and place tasks.
IROS
Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Hiromu Onda, Takashi Yoshimi, Yoshihiro Kawai
2012 A* conf
Pick and place planning for dual-arm manipulators.
ICRA
Kensuke Harada, Torea Foissotte, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Yoshihiro Kawai
2012 — conf
Probabilistic state verification for snap assemblies using the relative-change-based hierarchical taxonomy.
Humanoids
Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, Yoshihiro Kawai
2011 — conf
Grasp planning for parallel grippers with flexibility on its grasping surface.
ROBIO
Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Kenichi Maruyama, Akira Nakamura, Yoshihiro Kawai
2011 — conf
Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp.
Humanoids
Tokuo Tsuji, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Mitsuharu Morisawa
2010 A* conf
Analysis on a friction based "twirl" for biped robots.
ICRA
Kanako Miura, Shinichiro Nakaoka, Mitsuharu Morisawa, Fumio Kanehiro, Kensuke Harada, Shuuji Kajita
2010 A conf
Biped walking stabilization based on linear inverted pendulum tracking.
IROS
Shuuji Kajita, Mitsuharu Morisawa, Kanako Miura, Shinichiro Nakaoka, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kazuhito Yokoi
2010 J jnl
Grasp Planning for a Multifingered Hand with a Humanoid Robot.
J. Robotics Mechatronics
Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kenichi Maruyama
2009 C conf
Cybernetic Human HRP-4C: A Humanoid Robot with Human-Like Proportions.
ISRR
Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Mitsuharu Morisawa, Shinichiro Nakaoka, Kanako Miura, Kiyoshi Fujiwara, Ee Sian Neo, Isao Hara
2009 A conf
Easy and fast evaluation of grasp stability by using ellipsoidal approximation of friction cone.
IROS
Tokuo Tsuji, Kensuke Harada, Kenji Kaneko
2009 J jnl
Kinodynamic Planning for Humanoid Robots Walking on Uneven Terrain.
J. Robotics Mechatronics
Kensuke Harada, Mitsuharu Morisawa, Shinichiro Nakaoka, Kenji Kaneko, Shuuji Kajita
2009 — conf
Reactive stepping to prevent falling for humanoids.
Humanoids
Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Joan Solà, Eiichi Yoshida, Nicolas Mansard, Kazuhito Yokoi, Jean-Paul Laumond
2009 — conf
Robot motion remix based on motion capture data towards human-like locomotion of humanoid robots.
Humanoids
Kanako Miura, Mitsuharu Morisawa, Shinichiro Nakaoka, Fumio Kanehiro, Kensuke Harada, Kenji Kaneko, Shuuji Kajita
2009 A conf
Toward human-like walking pattern generator.
IROS
Kensuke Harada, Kanako Miura, Mitsuharu Morisawa, Kenji Kaneko, Shinichiro Nakaoka, Fumio Kanehiro, Tokuo Tsuji, Shuuji Kajita
2008 — conf
A friction based "twirl" for biped robots.
Humanoids
Kanako Miura, Shinichiro Nakaoka, Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita
2008 A conf
A pattern generator of humanoid robots walking on a rough terrain using a handrail.
IROS
Ken'ichi Koyanagi, Hirohisa Hirukawa, Shizuko Hattori, Mitsuharu Morisawa, Shinichiro Nakaoka, Kensuke Harada, Shuuji Kajita
2008 A* conf
Fast grasp planning for hand/arm systems based on convex model.
ICRA
Kensuke Harada, Kenji Kaneko, Fumio Kanehiro
2008 A conf
Humanoid robot HRP-3.
IROS
Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Gou Miyamori, Kazuhiko Akachi
2008 — ch.
Humanoids.
Springer Handbook of Robotics
Charles C. Kemp, Paul M. Fitzpatrick, Hirohisa Hirukawa, Kazuhito Yokoi, Kensuke Harada, Yoshio Matsumoto
2008 A conf
Kinodynamic gait planning for full-body humanoid robots.
IROS
Kensuke Harada, Mitsuharu Morisawa, Kanako Miura, Shinichiro Nakaoka, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita
2008 J jnl
Motion Planning for Legged Robots on Varied Terrain.
Int. J. Robotics Res.
Kris K. Hauser, Timothy Bretl, Jean-Claude Latombe, Kensuke Harada, Brian Wilcox
2008 — conf
Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand.
Humanoids
Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Yoshihiro Kawai
2007 A* conf
A Pattern Generator of Humanoid Robots Walking on a Rough Terrain.
ICRA
Hirohisa Hirukawa, Shizuko Hattori, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, Shinichiro Nakaoka
2007 A conf
An optimal planning of falling motions of a humanoid robot.
IROS
Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka, Hirohisa Hirukawa
2007 A* conf
Development of Multi-fingered Hand for Life-size Humanoid Robots.
ICRA
Kenji Kaneko, Kensuke Harada, Fumio Kanehiro
2007 A* conf
Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution.
ICRA
Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Shinichiro Nakaoka, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa
2007 A conf
Motion planning for walking pattern generation of humanoid.
IROS
Kensuke Harada, Shizuko Hattori, Hirohisa Hirukawa, Mitsuharu Morisawa, Shuuji Kajita, Eiichi Yoshida
2006 — conf
A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time.
Humanoids
Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Shinichiro Nakaoka, Hirohisa Hirukawa
2006 A* conf
A Universal Stability Criterion of the Foot Contact of Legged Robots - Adios ZMP.
ICRA
Hirohisa Hirukawa, Shizuko Hattori, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Mitsuharu Morisawa
2006 J jnl
An Analytical Method for Real-Time Gait Planning for Humanoid Robots.
Int. J. Humanoid Robotics
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa
2006 A conf
Biped Walking Pattern Generator allowing Auxiliary ZMP Control.
IROS
Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
2006 J jnl
Dynamics and balance of a humanoid robot during manipulation tasks.
IEEE Trans. Robotics
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa
2006 A conf
Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach.
IROS
Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa
2006 A conf
Motion Suspension System for Humanoids in case of Emergency; Real-time Motion Generation and Judgment to suspend Humanoid.
IROS
Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa
2006 A conf
Natural Motion Generation for Humanoid Robots.
IROS
Kensuke Harada, Kris K. Hauser, Timothy Bretl, Jean-Claude Latombe
2006 — conf
Task Autonomy for a Teleoperated Humanoid Robot.
ISER
Kensuke Harada, Hitoshi Hasunuma, Katsumi Nakashima, Yoshihiro Kawai, Hirohisa Hirukawa
2006 — conf
The Tele-operation of the Humanoid Robot-Whole Body Operation for Humanoid Robots in Contact with Environment-.
Humanoids
Hitoshi Hasunuma, Kensuke Harada, Hirohisa Hirukawa
2006 A conf
Towards Whole Arm Manipulation by Contact State Transition.
IROS
Tetsuyou Watanabe, Kensuke Harada, Tsuneo Yoshikawa, Zhongwei Jiang
2006 — conf
Towards an Optimal Falling Motion for a Humanoid Robot.
Humanoids
Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shinichiro Nakaoka, Hirohisa Hirukawa
2006 C conf
Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots.
WAFR
Kris K. Hauser, Timothy Bretl, Kensuke Harada, Jean-Claude Latombe
2005 A* conf
A Humanoid Robot Carrying a Heavy Object.
ICRA
Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsuharu Morisawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Hirohisa Hirukawa
2005 A conf
Emergency stop algorithm for walking humanoid robots.
IROS
Mitsuharu Morisawa, Shuuji Kajita, Kensuke Harada, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa
2005 A* conf
Object Manipulation under Hybrid Active/Passive Closure.
ICRA
Tetsuyou Watanabe, Kensuke Harada, Zhongwei Jiang, Tsuneo Yoshikawa
2005 A* conf
Pattern Generation of Biped Walking Constrained on Parametric Surface.
ICRA
Mitsuharu Morisawa, Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
2005 A conf
Slip observer for walking on a low friction floor.
IROS
Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Hirohisa Hirukawa
2005 A* conf
Whole Body Locomotion Planning of Humanoid Robots based on a 3D Grid Map.
ICRA
Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa, Fumiaki Tomita
2004 — conf
An analytical method on real-time gait planning for a humanoid robot.
Humanoids
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa
2004 A conf
Biped walking on a low friction floor.
IROS
Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, Hirohisa Hirukawa
2004 A conf
Dynamical balance of a humanoid robot grasping an environment.
IROS
Kensuke Harada, Hirohisa Hirukawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita, Masaru Nakamura
2004 A* conf
Falling Motion Control of a Humanoid Robot Trained by Virtual Supplementary Tests.
ICRA
Kiyoshi Fujiwara, Fumio Kanehiro, Hajime Saito, Shuuji Kajita, Kensuke Harada, Hirohisa Hirukawa
2004 — conf
Integration of Manipulation and Locomotion by a Humanoid Robot.
ISER
Kensuke Harada, Shuuji Kajita, Hajime Saito, Fumio Kanehiro, Hirohisa Hirukawa
2004 A* conf
Locomotion Planning of Humanoid Robots to Pass Through Narrow Spaces.
ICRA
Fumio Kanehiro, Hirohisa Hirukawa, Kenji Kaneko, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi
2004 A* conf
Real-time Planning of Humanoid Robot's Gait for Force Controlled Manipulation.
ICRA
Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, Hirohisa Hirukawa
2003 A* conf
Biped walking pattern generation by using preview control of zero-moment point.
ICRA
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, Hirohisa Hirukawa
2003 A* conf
Experimental evaluation of the dynamic simulation of biped walking of humanoid robots.
ICRA
Hirohisa Hirukawa, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kazuhito Yokoi, Kenji Kaneko, Kensuke Harada
2003 A* conf
Pushing manipulation by humanoid considering two-kinds of ZMPs.
ICRA
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa
2003 A conf
Resolved momentum control: humanoid motion planning based on the linear and angular momentum.
IROS
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, Hirohisa Hirukawa
2003 A conf
The first human-size humanoid that can fall over safely and stand-up again.
IROS
Kiyoshi Fujiwara, Fumio Kanehiro, Shuuji Kajita, Kazuhito Yokoi, Hajime Saito, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa
2003 A* conf
The first humanoid robot that has the same size as a human and that can lie down and get up.
ICRA
Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Shuuji Kajita, Kazuhito Yokoi
2003 A conf
ZMP analysis for arm/leg coordination.
IROS
Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa
2002 J jnl
A sufficient condition for manipulation of Envelope Family.
IEEE Trans. Robotics Autom.
Kensuke Harada, Makoto Kaneko, Toshio Tsuji
2002 J jnl
Active force closure for multiple objects.
J. Field Robotics
Kensuke Harada, Makoto Kaneko, Toshio Tsuji
2002 A* conf
Dynamic Friction Closure.
ICRA
Makoto Kaneko, Kensuke Harada, Toshio Tsuji
2002 A conf
Manipulation of 3D enveloped object.
IROS
Kensuke Harada, Makoto Kaneko
2002 A* conf
Pushing Multiple Objects using Equivalent Friction Center.
ICRA
Kensuke Harada, Jun Nishiyama, Yoshihiro Murakami, Makoto Kaneko
2002 J jnl
Rolling Based Manipulation under Neighborhood Equilibrium.
Int. J. Robotics Res.
Kensuke Harada, Taiga Kawashima, Makoto Kaneko
2002 A conf
Torque distribution for achieving a Hugging Walk.
IROS
Makoto Kaneko, Akihiko Mizuno, Kensuke Harada
2001 A* conf
A Neuro-based Adaptive Training Method for Robotic Rehabilitation Aids.
ICRA
Toshio Tsuji, Kensuke Harada, Makoto Kaneko
2001 A conf
Analysis of frictional forces in indeterminate enveloping grasps.
IROS
Jonghoon Park, Kensuke Harada, Makoto Kaneko
2001 A* conf
Analysis on Detaching Assist Motion (DAM).
ICRA
Makoto Kaneko, Tatsuya Shirai, Kensuke Harada, Toshio Tsuji
2001 A* conf
Enveloping Grasp Feasibility Inequality.
ICRA
Jonghoon Park, Kensuke Harada, Makoto Kaneko
2001 A* conf
Rolling Based Manipulation under Neighborhood Equilibrium.
ICRA
Kensuke Harada, Makoto Kaneko
2000 A* conf
A Sufficient Condition for Manipulation of Envelope Family.
ICRA
Makoto Kaneko, Kensuke Harada, Toshio Tsuji
2000 — conf
Grasp Strategy Simplified by Detaching Assist Motion (DAM).
ISER
Makoto Kaneko, Tatsuya Shirai, Kensuke Harada, Toshio Tsuji
2000 A* conf
Neighborhood Equilibrium Grasp for Multiple Objects.
ICRA
Kensuke Harada, Makoto Kaneko
2000 A* conf
Rolling Based Manipulation for Multiple Objects.
ICRA
Kensuke Harada, Makoto Kaneko, Toshio Tsuji
2000 J jnl
Rolling-based manipulation for multiple objects.
IEEE Trans. Robotics Autom.
Kensuke Harada, Makoto Kaneko, Toshio Tsuji
1999 — conf
Experimental Approach on Grasping and Manipulating Multiple Objects.
ISER
Makoto Kaneko, Kensuke Harada, Toshio Tsuji
1998 A* conf
Enveloping Grasp for Multiple Objects.
ICRA
Kensuke Harada, Makoto Kaneko
1998 J jnl
Grasp and manipulation for multiple objects.
Adv. Robotics
Makoto Kaneko, Tatsuya Shirai, Kensuke Harada, Toshio Tsuji
1998 A conf
Kinematics and internal force in grasping multiple objects.
IROS
Kensuke Harada, Makoto Kaneko
1998 A conf
Necessary and sufficient number of fingers for capturing pyramidal-like objects.
IROS
Makoto Kaneko, Michael Kessler, Kensuke Harada, Toshio Tsuji
1996 J jnl
Hybrid position/force control of flexible-macro/rigid-micro manipulator systems.
IEEE Trans. Robotics Autom.
Tsuneo Yoshikawa, Kensuke Harada, Atsushi Matsumoto
1996 A conf
Internal stabilization in dynamic trajectory control of flexible manipulators.
IROS
Kensuke Harada, Tsuneo Yoshikawa
1994 A* conf
Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System.
ICRA
Tsuneo Yoshikawa, Koh Hosoda, Kensuke Harada, Atsushi Matsumoto, Hiroki Murakami
1993 A conf
Trajectory control of Cartesian type industrial manipulators with flexible joints.
IROS
Tsuneo Yoshikawa, Koh Hosoda, Kensuke Harada, Masashi Ichikawa