Masaki Murooka

64 papers A* 9A 8C 1Journal 30Unranked 16

Year	Rank	Type	Title / Venue / Authors
2026	—	`conf`	Expert-Guided Imitation for Learning Humanoid Loco-Manipulation from Motion Capture. SII Rohan P. Singh, Pierre-Alexandre Leziart, Masaki Murooka, Mitsuharu Morisawa, Eiichi Yoshida, Fumio Kanehiro
2025	J	`jnl`	Centroidal Trajectory Generation and Stabilization based on Preview Control for Humanoid Multi-contact Motion. CoRR Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro
2025	J	`jnl`	Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. CoRR Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
2025	J	`jnl`	Humanoid Loco-manipulation Planning based on Graph Search and Reachability Maps. CoRR Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
2025	J	`jnl`	Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context. IEEE Robotics Autom. Mag. Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard, Rafael Cisneros, Iori Kumagai, Mitsuharu Morisawa, Hiroshi Kaminaga, Masaki Murooka, Antoine N. André, Pierre Gergondet, Kenji Kaneko, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar, Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon
2025	—	`conf`	Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers. CASE Tomohiro Motoda, Ryo Hanai, Ryoichi Nakajo, Masaki Murooka, Floris Erich, Yukiyasu Domae
2025	J	`jnl`	Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers. CoRR Tomohiro Motoda, Ryo Hanai, Ryoichi Nakajo, Masaki Murooka, Floris Erich, Yukiyasu Domae
2025	—	`conf`	Learning Differentiable Reachability Maps for Optimization-Based Humanoid Motion Generation. Humanoids Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro
2025	J	`jnl`	Learning Differentiable Reachability Maps for Optimization-based Humanoid Motion Generation. CoRR Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro
2025	J	`jnl`	Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface. CoRR Masaki Murooka, Kei Okada, Masayuki Inaba
2025	J	`jnl`	Reinforcement Learning of Contact Preferability in Multi-Contact Locomotion Planning for Humanoids. IEEE Robotics Autom. Lett. Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro
2025	J	`jnl`	RoboManipBaselines: A Unified Framework for Imitation Learning in Robotic Manipulation across Real and Simulated Environments. CoRR Masaki Murooka, Tomohiro Motoda, Ryoichi Nakajo, Hanbit Oh, Koshi Makihara, Keisuke Shirai, Yukiyasu Domae
2025	J	`jnl`	Self-Augmented Robot Trajectory: Efficient Imitation Learning via Safe Self-augmentation with Demonstrator-annotated Precision. CoRR Hanbit Oh, Masaki Murooka, Tomohiro Motoda, Ryoichi Nakajo, Yukiyasu Domae
2025	J	`jnl`	TACT: Humanoid Whole-Body Contact Manipulation Through Deep Imitation Learning With Tactile Modality. IEEE Robotics Autom. Lett. Masaki Murooka, Takahiro Hoshi, Kensuke Fukumitsu, Shimpei Masuda, Marwan Hamze, Tomoya Sasaki, Mitsuharu Morisawa, Eiichi Yoshida
2025	J	`jnl`	TACT: Humanoid Whole-body Contact Manipulation through Deep Imitation Learning with Tactile Modality. CoRR Masaki Murooka, Takahiro Hoshi, Kensuke Fukumitsu, Shimpei Masuda, Marwan Hamze, Tomoya Sasaki, Mitsuharu Morisawa, Eiichi Yoshida
2025	J	`jnl`	Whole-body Multi-contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors. CoRR Masaki Murooka, Kensuke Fukumitsu, Marwan Hamze, Mitsuharu Morisawa, Hiroshi Kaminaga, Fumio Kanehiro, Eiichi Yoshida
2024	J	`jnl`	Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM With Wide-Angle Depth-Images. IEEE Trans Autom. Sci. Eng. Kevin Chappellet, Masaki Murooka, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar
2024	J	`jnl`	Humanoid Robot RHP Friends: Seamless Combination of Autonomous and Teleoperated Tasks in a Nursing Context. CoRR Mehdi Benallegue, Guillaume Lorthioir, Antonin Dallard, Rafael Cisneros Limón, Iori Kumagai, Mitsuharu Morisawa, Hiroshi Kaminaga, Masaki Murooka, Antoine N. André, Pierre Gergondet, Kenji Kaneko, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar, Soh Yukizaki, Junichi Karasuyama, Junichi Murakami, Masayuki Kamon
2024	—	`conf`	Tactile Sensor-Based Detection of Partial Foothold for Balance Control in Humanoid Robots. Humanoids Taro Tako, Rafael Cisneros Limón, Hiroshi Kaminaga, Kenji Kaneko, Masaki Murooka, Iori Kumagai, Hiroaki Masuzawa, Yohei Kakiuchi
2024	J	`jnl`	The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots. CoRR Arnaud Demont, Mehdi Benallegue, Abdelaziz Benallegue, Pierre Gergondet, Antonin Dallard, Rafael Cisneros, Masaki Murooka, Fumio Kanehiro
2024	J	`jnl`	Whole-Body Multi-Contact Motion Control for Humanoid Robots Based on Distributed Tactile Sensors. IEEE Robotics Autom. Lett. Masaki Murooka, Kensuke Fukumitsu, Marwan Hamze, Mitsuharu Morisawa, Hiroshi Kaminaga, Fumio Kanehiro, Eiichi Yoshida
2023	J	`jnl`	Model predictive control of legged and humanoid robots: models and algorithms. Adv. Robotics Sotaro Katayama, Masaki Murooka, Yuichi Tazaki
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	J	`jnl`	Special issue on online motion planning and model predictive control. Adv. Robotics Yuichi Tazaki, Kensuke Harada, Masaki Murooka, Adrien Escande
2022	J	`jnl`	Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion. IEEE Robotics Autom. Lett. Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro
2022	A	`conf`	Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space. IROS Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro
2021	J	`jnl`	Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps. IEEE Robotics Autom. Lett. Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
2021	J	`jnl`	Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. IEEE Robotics Autom. Lett. Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar
2021	J	`jnl`	Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition. IEEE Robotics Autom. Lett. Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro
2021	J	`jnl`	Online generation and control of quasi-static multi-contact motion by PWT Jacobian matrix with contact wrench estimation and joint load reduction. Adv. Robotics Naoki Hiraoka, Masaki Murooka, Shintaro Noda, Kei Okada, Masayuki Inaba
2020	J	`jnl`	3D Object Segmentation for Shelf Bin Picking by Humanoid with Deep Learning and Occupancy Voxel Grid Map. CoRR Kentaro Wada, Masaki Murooka, Kei Okada, Masayuki Inaba
2020	J	`jnl`	A survey of motion planning techniques for humanoid robots. Adv. Robotics Yuichi Tazaki, Masaki Murooka
2020	A*	`conf`	Aerial Regrasping: Pivoting with Transformable Multilink Aerial Robot. ICRA Fan Shi, Moju Zhao, Masaki Murooka, Kei Okada, Masayuki Inaba
2020	A*	`conf`	Learning of Key Pose Evaluation for Efficient Multi-contact Motion Planner. ICRA Shintaro Noda, Masaki Murooka, Yuki Asano, Ryusuke Ishizaki, Tomohiro Kawakami, Tomoki Watabe, Kei Okada, Takahide Yoshiike, Masayuki Inaba
2020	A	`conf`	Learning of Tool Force Adjustment Skills by a Life-sized Humanoid using Deep Reinforcement Learning and Active Teaching Request. IROS Yoichiro Kawamura, Masaki Murooka, Naoki Hiraoka, Hideaki Ito, Kei Okada, Masayuki Inaba
2020	J	`jnl`	Optimization-Based Posture Generation for Whole-Body Contact Motion by Contact Point Search on the Body Surface. IEEE Robotics Autom. Lett. Masaki Murooka, Kei Okada, Masayuki Inaba
2020	J	`jnl`	Selective grasp in occluded space by all-around proximity perceptible finger. Robotics Auton. Syst. Naoya Yamaguchi, Shun Hasegawa, Masaki Murooka, Kei Okada, Masayuki Inaba
2019	A	`conf`	Design, Modeling and Control of Fully Actuated 2D Transformable Aerial Robot with 1 DoF Thrust Vectorable Link Module. IROS Tomoki Anzai, Moju Zhao, Masaki Murooka, Fan Shi, Kei Okada, Masayuki Inaba
2019	A	`conf`	Generating a Key Pose Sequence Based on Kinematics and Statics Optimization for Manipulating a Heavy Object by a Humanoid Robot. IROS Riku Shigematsu, Masaki Murooka, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2019	A	`conf`	Whole-Body Control of Humanoid Robot in 3D Multi-Contact under Contact Wrench Constraints Including Joint Load Reduction with Self-Collision and Internal Wrench Distribution. IROS Naoki Hiraoka, Masaki Murooka, Hideaki Ito, Iori Yanokura, Kei Okada, Masayuki Inaba
2018	A*	`conf`	Simultaneous Planning and Estimation Based on Physics Reasoning in Robot Manipulation. ICRA Masaki Murooka, Shunichi Nozawa, Masahiro Bando, Iori Yanokura, Kei Okada, Masayuki Inaba
2018	C	`conf`	Variance Based Trajectory Segmentation in Object-Centric Coordinates. IAS Iori Yanokura, Masaki Murooka, Shunichi Nozawa, Kei Okada, Masayuki Inaba
2018	A	`conf`	Walking on a Steep Slope Using a Rope by a Life-Size Humanoid Robot. IROS Masahiro Bando, Masaki Murooka, Shunichi Nozawa, Kei Okada, Masayuki Inaba
2018	—	`conf`	Whole-Body Posture Evaluation and Modification for Crane-Less Servo-Off Operation of Life-Sized Humanoid Robot. Humanoids Masaki Murooka, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2017	A*	`conf`	Feasibility evaluation of object manipulation by a humanoid robot based on recursive estimation of the object's physical properties. ICRA Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2017	J	`jnl`	Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching. Adv. Robotics Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2017	A*	`conf`	Online estimation of object-environment constraints for planning of humanoid motion on a movable object. ICRA Shunichi Nozawa, Shintaro Noda, Masaki Murooka, Kei Okada, Masayuki Inaba
2017	—	`conf`	Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulation. Humanoids Masahiro Bando, Masaki Murooka, Iori Yanokura, Shunichi Nozawa, Kei Okada, Masayuki Inaba
2017	—	`conf`	Unified humanoid manipulation of an object of unknown mass properties and friction based on online constraint estimation. Humanoids Shunichi Nozawa, Masaki Murooka, Shintaro Noda, Kunio Kojima, Yuta Kojio, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2016	—	`conf`	3D object segmentation for shelf bin picking by humanoid with deep learning and occupancy voxel grid map. Humanoids Kentaro Wada, Masaki Murooka, Kei Okada, Masayuki Inaba
2016	A*	`conf`	Planning and execution of groping behavior for contact sensor based manipulation in an unknown environment. ICRA Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2016	—	`conf`	Transformable semantic map based navigation using autonomous deep learning object segmentation. Humanoids Yuki Furuta, Kentaro Wada, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2015	—	`conf`	Configurable autonomy applicable to humanoid manipulation in unstructured and communication-limited environment. Humanoids Yu Ohara, Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2015	—	`conf`	Development of humanoid robot system for disaster response through team NEDO-JSK's approach to DARPA Robotics Challenge Finals. Humanoids Yohei Kakiuchi, Kunio Kojima, Eisoku Kuroiwa, Shintaro Noda, Masaki Murooka, Iori Kumagai, Ryohei Ueda, Fumihito Sugai, Shunichi Nozawa, Kei Okada, Masayuki Inaba
2015	—	`conf`	Humanoid integrated UI system for supervised autonomy with massive data visualization over narrow and unreliable network communication for DRC competition. Humanoids Ryohei Ueda, Masaki Murooka, Yu Ohara, Iori Kumagai, Ryo Terasawa, Yuki Furuta, Kunio Kojima, Tatsuhi Karasawa, Fumihito Sugai, Satoshi Iwaishi, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2015	—	`conf`	Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop. Humanoids Shunichi Nozawa, Eisoku Kuroiwa, Kunio Kojima, Ryohei Ueda, Masaki Murooka, Shintaro Noda, Iori Kumagai, Yu Ohara, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2015	A	`conf`	Whole-body holding manipulation by humanoid robot based on transition graph of object motion and contact. IROS Masaki Murooka, Yuto Inagaki, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2015	A*	`conf`	Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot. ICRA Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2014	A*	`conf`	Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot. ICRA Shintaro Noda, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2014	A*	`conf`	Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects. ICRA Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2014	—	`conf`	Manipulation strategy learning for carrying large objects based on mapping from object physical property to object manipulation action in virtual environment. CASE Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2014	—	`conf`	Online maintaining behavior of high-load and unstable postures based on whole-body load balancing strategy with thermal prediction. CASE Shintaro Noda, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba
2013	A	`conf`	Description and execution of humanoid's object manipulation based on object-environment-robot contact states. IROS Shunichi Nozawa, Masaki Murooka, Shintaro Noda, Kei Okada, Masayuki Inaba
2013	—	`conf`	Description and execution of manipulation and locomotion by a humanoid robot using cascaded contact states graph. Humanoids Shunichi Nozawa, Masaki Murooka, Shintaro Noda, Yohei Kakiuchi, Kei Okada, Masayuki Inaba