Research field (3)：
Mechanics and mechatronics
, Robotics and intelligent systems
, Control and systems engineering
Research keywords (3)：
multi-contact stabilization
, whole body control
, humanoid robot
Research theme for competitive and other funds (5)：
2022 - 2027 Comprehensive data-driven learning, prediction and generation of whole-body contact motions based on cyber-physical human model
2021 - 2024 Realization of responsive multi-contact locomotion system in complex unknown environments
2017 - 2019 Development of an adaptive whole-body locomotion planning system for a humanoid robot in an unknown environment based on approximated environmental models
2016 - 2019 Cutting-edge multi-contact behaviors
2010 - 2015 Research on interactive links between actions and visual recognition for handling soft objects
Papers (97)：
Rafael Cisneros-Limón, Antonin Dallard, Mehdi Benallegue, Kenji Kaneko, Hiroshi Kaminaga, Pierre Gergondet, Arnaud Tanguy, Rohan Pratap Singh, Leyuan Sun, Yang Chen, et al. A Cybernetic Avatar System to Embody Human Telepresence for Connectivity, Exploration, and Skill Transfer. International Journal of Social Robotics. 2024
Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro. Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2022
Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar. Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps. IEEE Robotics and Automation Letters. 2021. 6. 2. 1840-1847
Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro. Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition. IEEE Robotics Autom. Lett. 2021. 6. 4. 6654-6661
Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar. Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. IEEE Robotics Autom. Lett. 2021. 6. 3. 5597-5604
