Kensuke Harada

Publications

• Manipulation Planning for Large Objects through Pivoting, Tumbling, and Regrasping
• Preparatory manipulation planning using automatically determined single and dual arm
• Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation during Humanoid Manipulation
• Assembly Motion Recognition Framework Using only Images
• Probabilistic Action/Observation Planning for Playing Yamakuzushi
• Hedgehog Signal Inhibitor GANT61 Inhibits the Malignant Behavior of Undifferentiated Hepatocellular Carcinoma Cells by Targeting Non-Canonical GLI Signaling
• Planning a Minimum Sequence of Positions for Picking Parts From Multiple Trays Using a Mobile Manipulator
• Category-Association Based Similarity Matching for Novel Object Pick-and-Place Task
• A topological solution of entanglement for complex-shaped parts in robotic bin-picking
• Assembly planning by recognizing a graphical instruction manual
• Bimanual shelf picking planner based on collapse prediction
• Challenges and Outlook in Robotic Manipulation of Deformable Objects
• Ontrolling pivoting gait using graph model predictive control
• Error identification and recovery in robotic snap assembly
• Robotic imitation of human assembly skills using hybrid trajectory and force learning
• Planning to repose long and heavy objects considering a combination of regrasp and constrained drooping
• A dual-arm robot that autonomously lifts up and tumbles heavy plates using crane pulley blocks
• Motion generation by learning relationship between object shapes and human motions
• Robotic picking for piled sushi topping
• Using various evaluation standards to determine an error recovery process in an automation plant
• Planning a sequence of base positions for a mobile manipulator to perform multiple pick-and-place tasks
• Multi-pen robust robotic 3D drawing using closed-loop planning
• Four-Arm collaboration: Two dual-arm robots work together to maneuver tethered tools
• A Mechanical Screwing Tool for 2-Finger Parallel Grippers – Design, Optimization, and Manipulation Policies
• Development of a Shape-memorable Adaptive Pin Array Fixture
• Arranging Test Tubes in Racks Using Combined Task and Motion Planning
• Integrating combined task and motion planning with compliant control successfully conducting planned dual-arm assembly motion using compliant peg-in-hole control
• Functionally divided manipulation synergy for controlling multi-fingered hands
• Planning to build soma blocks using a dual-arm robot
• Learning force control for contact-rich manipulation tasks with rigid position-controlled robots
• Planning an efficient and robust base sequence for a mobile manipulator performing multiple pick-and-place tasks
• Planning to Build Block Structures With Unstable Intermediate States Using Two Manipulators
• Cooking Actions Inference based on Ingredient's Physical Features
• Online Object Searching by a Humanoid Robot in an Unknown Environment
• Presenting walking route for VR zombie
• Robust Robotic 3-D Drawing Using Closed-Loop Planning and Online Picked Pens
• Integrating combined task and motion planning with compliant control: Successfully conducting planned dual-arm assembly motion using compliant peg-in-hole control
• Planning Grasps with Suction Cups and Parallel Grippers Using Superimposed Segmentation of Object Meshes
• Hybrid Trajectory and Force Learning of Complex Assembly Tasks: A Combined Learning Framework
• Pomdp-based action planning for the recognition of occluded objects with humanoid robots
• Motion planning of skillful motions in assembly process through human demonstration
• A Mechanical Screwing Tool for Parallel Grippers—Design, Optimization, and Manipulation Policies
• Four-Arm Collaboration: Two Dual-Arm Robots Work Together to Manipulate Tethered Tools
• Planning to flip heavy objects considering soft-finger contacts
• An Adaptive Imitation Learning Framework for Robotic Complex Contact-Rich Insertion Tasks
• Emerging Paradigms for Robotic Manipulation: From the Lab to the Productive World [From the Guest Editors]
• Shelf Replenishment Based on Object Arrangement Detection and Collapse Prediction for Bimanual Manipulation
• Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants
• Controlling Pivoting Gait Using Graph Model Predictive Control
• Cost-oriented Planning for Error Recovery in an Automation Plant
• Arm Manipulation Planning of Tethered Tools with the Help of a Tool Balancer
• Team O2AS' approach for the task-board task of the World Robot Challenge 2018
• Team O2AS at the world robot summit 2018: an approach to robotic kitting and assembly tasks using general purpose grippers and tools
• Special issue on artificial intelligence and machine learning for robotic manipulation
• Obstacle Avoidance Method in Real Space for Virtual Reality Immersion
• Motion Planning through Demonstration to Deal with Complex Motions in Assembly Process
• Designing Grasping Tools for Robotic Assembly Based on Shape Analysis of Parts
• Special issue on Industrial Robot Technology–Selected Papers from WRS 2018
• Speech-driven facial animation by LSTM-RNN for communication use
• Tethered Tool Manipulation Planning with Cable Maneuvering
• A Double-jaw Hand that Mimics A Mouth of the Moray Eel
• Walking Assist Method for VR Zombie
• Real Friendship and Virtual Friendship: Differences in Similarity of Contents/People and Proposal of Classification Models on SNS
• Two-Stage Picking Method for Piled Shiny Objects
• A regrasp planning component for object reorientation
• Multi-dimensional Error Identification during Robotic Snap Assembly
• Learning based industrial bin-picking trained with approximate physics simulator
• Learning to Grasp with Primitive Shaped Object Policies
• Visually guided extrinsic manipulation for assembly tasks
• A simple assembly planner for the insertion of ring-shaped deformable objects
• Recognition of Assembly Tasks Based on the Actions Associated to the Manipulated Objects
• Force Control Law Selection for Elastic Part Assembly from Human Data and Parameter Optimization
• Constrained Motion Planning for Flipping Stick-like Objects
• Using Importance Ranks to Derive Suitable Timing of Visual Sensing in Manipulation Task Containing Error Recovery
• Motion-Data Driven Grasp/Assembly Planner
• Variable Compliance Control for Robotic Peg-In-Hole Assembly: A Deep-Reinforcement-Learning Approach
• Variable compliance control for robotic peg-in-hole assembly: A deep reinforcement learning approach
• Selecting and designing grippers for an assembly task in a structured approach
• User interface and motion planner for task database
• Human-in-the-loop robotic manipulation planning for collaborative assembly
• Planning grasps for assembly tasks
• Designing a mechanical tool for robots with 2-finger parallel grippers
• A Double Jaw Hand Designed for Multi-Object Assembly
• Combined Task and Motion Planning for a Dual-Arm Robot to Use a Suction Cup Tool
• Learning Based Robotic Bin-picking for Potentially Tangled Objects
• Regrasp Planning Using Stable Object Poses Supported by Complex Structures
• Regrasp Planning Considering Bipedal Stability Constraints
• Humanoid walking pattern generation based on model predictive control approximated with basis functions
• Multi-contact stability of humanoids using zmp and cwc
• Special issue on real-world application
• Quickly Inserting Pegs into Uncertain Holes using Multi-view Images and Deep Network Trained on Synthetic Data
• Deep Learning Scooping Motion Using Bilateral Teleoperations
• Dual-arm Assembly Planning Considering Gravitational Constraints
• Tool exchangeable grasp/assembly planner
• Realizing an assembly task through virtual capture
• Designing a Mechanical Tool for Robots with Two-Finger Parallel Grippers
• A Hand Combining Two Simple Grippers to Pick Up and Arrange Objects for Assembly
• Teaching a robot to use electric tools with regrasp planning
• Real-time Planning Robotic Palletizing Tasks using Reusable Roadmaps
• Towards Tethered Tool Manipulation Planning with the Help of a Tool Balancer
• Planning dexterous dual-arm manipulation
• Humanoids
• Grasp Synergy Analysis Based on Contact Area of Fingers Using Thermal Signatures
• Teaching robots to do object assembly using multi-modal 3D vision
• Industry 4.0, intelligent visual assisted picking approach
• Rope caging and grasping
• Proposal of a shape adaptive gripper for robotic assembly tasks
• Robot introspection with Bayesian nonparametric vector autoregressive hidden Markov models
• Special Issue on Recent Advancements on Industrial Robot Technology
• Contextualized early failure characterization of cantilever snap assemblies
• Analyzing the utility of a support pin in sequential robotic manipulation
• Regrasp planning using 10,000s of grasps
• Modeling development process of skill-based system for human-like manipulation robot
• Integrated single-arm assembly and manipulation planning using dynamic regrasp graphs
• A virtual capture framework for assembly tasks
• A brief review of affordance in robotic manipulation research
• Experiments on learning-based industrial bin-picking with iterative visual recognition
• Walking Support in Real Space Using Social Force Model When Wearing Immersive HMD
• Grasp stability evaluation based on energy tolerance in potential field
• Simulation-based optimal motion planning for deformable object
• Achieving high success rate in dual-arm handover using large number of candidate grasps, handover heuristics, and hierarchical search
• Self-locking Underactuated Mechanism for Robotic Gripper
• An empirical comparison among the effect of different supports in sequential robotic manipulation
• Assembly sequence planning for motion planning
• Estimation and Categorization of Errors in Error Recovery Using Task Stratification and Error Classification
• Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning
• The Suitable Timing of Visual Sensing in Error Recovery Using Task Stratification and Error Classification
• Optimizing the Motion for Robotic Snap Assembly Using FEM
• Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms
• Tool exchangeable grasp/assembly planner
• Experiments on learning based industrial bin-picking with iterative visual recognition
• Human inspired dexterity in robotic manipulation
• A framework for systematic accumulation, sharing and reuse of task implementation knowledge
• Optimizing the parameters of tilting surfaces in robotic workcells
• Online robot introspection via wrench-based action grammars
• Motion generation for pulling a fire hose by a humanoid robot
• Robot contact task state estimation via position-based action grammars
• Initial experiments on learning-based randomized bin-picking allowing finger contact with neighboring objects
• Motion planning for dual-arm assembly of ring-shaped elastic objects
• Experimental investigation of effect of fingertip stiffness on resistible force in grasping
• Research trends on assembly automation by using industrial robots
• Base position planning for dual-arm mobile manipulators performing a sequence of pick-and-place tasks
• Divide-and-conquer manipulation planning by lazily searching a weighted two-layer manipulation graph
• Extracting grasping, contact points and objects motion from assembly demonstration
• Special issue on advanced manipulation
• An Adaptive Robotic Gripper with L-Shape Fingers for Peg-in-Hole Tasks
• Developing and Comparing Single-Arm and Dual-Arm Regrasp
• Design of robot programming software for the systematic reuse of teaching data including environment model
• Human-based framework for the assembly of elastic objects by a dual-arm robot
• Iterative Visual Recognition for Learning Based Randomized Bin-Picking
• Robot technology to support manufacturing industry
• Motion planning for a humanoid robot based on a biped walking pattern generator
• Collision avoidance planning of a humanoid robot under dynamic walking
• Reactive stepping to prevent falling for humanoids
• Humanoid robot that achieves bipedal walk, visual recognition, and multiple finger grasp
• Modeling of everyday objects for semantic grasp
• Toward human-like walking pattern generator
• Probabilistic approach for object bin picking approximated by cylinders
• Probabilistic state verification for snap assemblies using the relative-change-based hierarchical taxonomy
• Slip turn generation of humanoid robots based on an analysis of friction model
• Early failure characterization of cantilever snap assemblies using the PA-RCBHT
• Grasp planning for multi-fingered hands based on rectangular convex models
• Pick-and-place motion planning for manipulators with dual-arms
• Reorientating objects with a gripping hand and a table surface
• Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand
• Grasp planning for constricted parts of objects approximated with quadric surfaces
• A constraint-based motion control strategy for cantilever snap assemblies
• Pick and place planning for dual-arm manipulators
• Robot motion remix based on motion capture data - Towards human-like locomotion of humanoid robots
• Biped walking stabilization based on linear inverted pendulum tracking
• Validating an object placement planner for robotic pick-and-place tasks
• Grasp planning using quadric surface approximation for parallel grippers
• Project on Development of a Robot System for Random Picking-Grasp/manipulation planner for a dual-arm manipulator
• Object placement planner for robotic pick and place tasks
• Error recovery using task stratification and error classification for manipulation robots in various fields
• Gradient calibration for the RCBHT cantilever snap verification system
• A manipulation motion planner for dual-arm industrial manipulators
• A pattern generator of humanoid robots walking on a rough terrain using a handrail
• Selecting a suitable grasp motion for humanoid robots with a multi-fingered hand
• Grasp Planning for a Humanoid Hand
• Grasp planning for parallel grippers with flexibility on its grasping surface
• A friction based "twirl" for biped robots
• Cantilever snap assemblies failure detection using SVMs and the RCBHT
• Analysis on a friction based "twirl" for biped robots
• Model-based optimization for robotics
• A relative-change-based hierarchical taxonomy for cantilever-snap assembly verification
• Cybernetic human HRP-4C: A humanoid robot with human-like proportions
• Strategies, controllers, and coordination: Bi-manual snap assembly automation
• Simultaneous whole-body/foot-place planning for full-body humanoid robots
• Stability of soft-finger grasp under gravity
• Task autonomy for a teleoperated humanoid robot
• Grasp stability analysis for elastic fingertips by using potential energy
• Two-stage time-parametrized gait planning for humanoid robots
• Kinodynamic gait planning for full-body humanoid robots
• Preface
• Motion planning for humanoid robots
• Introduction to Humanoid Robotics
• Fast grasp planning for hand/arm systems based on convex model
• Humanoid robot HRP-3
• Motion planning for legged robots on varied terrain
• Falling motion control of a humanoid robot trained by virtual supplementary tests
• Biped walking on a low friction floor
• Manipulation of 3D enveloped object
• Analysis on Detaching Assist Motion (DAM)
• Integration of manipulation and locomotion by a humanoid robot
• Real-time planning of humanoid robot's gait for force-controlled manipulation
• Motion planning for walking pattern generation of humanoid robots
• Towards whole arm manipulation by contact state transition
• A biped pattern generation allowing immediate modification of foot placement in real-time
• A neuro-based adaptive training method for robotic rehabilitation aids
• A universal stability criterion of the foot contact of legged robots - Adios ZMP
• Dynamics and balance of a humanoid robot during manipulation tasks
• Natural motion generation for humanoid robots
• Pattern generation of biped walking constrained on parametric surface
• Towards an optimal falling motion for a humanoid robot
• Experimentation of humanoid walking allowing immediate modification of foot place based on analytical solution
• Motion suspension system for humanoids in case of emergency - Real-time motion generation and judgment to suspend humanoid
• Slip observer for walking on a low friction floor
• Dexterous Humanoid Whole-Body Manipulation by Pivoting
• H.Hirukawa, “Motion suspension system for humanoids in case of emergency; real-time motion generation and judgment to suspend humanoid
• Experimentation of humanoid walking allowing immediate modication of foot place based on analytical solution
• Whole body manipulation
• Emergency stop algorithm for walking humanoid robots
• The tele-operation of the humanoid robot - Whole body operation for humanoid robots in contact with environment
• Whole body locomotion planning of humanoid robots based on a 3D grid map
• A sufficient condition for manipulation of envelope family
• Analysis of frictional forces in indeterminate enveloping grasps
• A humanoid robot carrying a heavy object
• Object manipulation under hybrid active/passive closure
• Tactile Differentiator
• Biped walking pattern generator allowing auxiliary ZMP control
• Real-time planning of humanoid robot's gait for force controlled manipulation
• An analytical method on real-time gait planning for a humanoid robot
• Dynamical balance of a humanoid robot grasping an environment
• The First Human-size Humanoid that can Fall over Safely and Stand-up Again
• ZMP Analysis for ARM/Leg Coordination
• Resolved Momentum Control: Humanoid Motion Planning Based on the Linear and Angular Momentum
• Pushing manipulation by humanoid considering two-kinds of ZMPs
• Pushing manipulation for multiple objects
• Torque distribution for achieving a hugging walk
• Dynamic friction closure
• Pushing multiple objects using equivalent friction center
• Using motion primitives in probabilistic sample-based planning for humanoid robots
• Locomotion Planning of Humanoid Robots to Pass Through Narrow Spaces
• Active force closure for multiple objects
• Experimental evaluation of the dynamic simulation of biped walking of humanoid robots
• The first humanoid robot that has the same size as a human and that can lie down and get up
• Biped walking pattern generation by using preview control of zero-moment point
• H.: Biped walking pattern generator allowing auxiliary zmp control
• An optimal planning of falling motions of a humanoid robot
• Manipulation of enveloped object with elasticity at contact points
• Necessary and sufficient number of fingers for capturing pyramidal-like objects
• Kinematics and internal force in grasping multiple objects
• Enveloping grasp feasibility inequality
• Manipulation of enveloped multiple objects
• Internal Stabilization in Dynamic Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro System
• Scale-dependent grasps
• 0 Grasp Planning for a Humanoid Hand
• 24 Dexterous Humanoid Whole-Body Manipulation by Pivoting
• Enveloping Grasp with a New Detaching Strategy
• Pattern generation of biped walking constrained on parametric surface
• Kinodynamic Gait Planning for Full-Body Humanoid
• A Universal Stability Criterion of the Foot Contact of Legged Robots
• Internal stabilization in dynamic trajectory control of flexible manipulators
• Hybrid position/force control of flexible manipulators by macro-micro manipulator system
• Trajectory control of cartesian type industrial manipulators with flexible joints
• Hybrid position/force control of flexible-macro/rigid-micro manipulator systems
• Trajectory control of Cartesian-type robotic mechanisms with flexible joints
• Grasp and manipulation for multiple objects
• Enveloping grasp for multiple objects
• Rolling based manipulation under neighborhood equilibrium
• Sufficient condition for manipulation of envelope family
• Rolling based manipulation for multiple objects
• Neighborhood equilibrium grasp for multiple objects
• Rolling-based manipulation for multiple objects
• Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach
• A Pattern Generator of Humanoid Robots Walking on a Rough Terrain
• Development of Multi-fingered Hand for Life-size Humanoid Robots
• Easy and Fast Evaluation of Grasp Stability by using Ellipsoidal Approximation of Friction Cone
• Graph Based Framework on Bimanual Manipulation Planning from Cooking Recipe
• Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe
• Online Multi-Contact Motion Replanning for Humanoid Robots with Semantic 3D Voxel Mapping: ExOctomap