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    AuthorTitleJournal/ProceedingsYearBibTeX typeDOI/URL/PDF
    Ramirez‑Alpizar, I.G., Harada, K. & Yoshida, E. Human-based Framework for the Assembly of Elastic Objects by a Dual-arm Robot ROBOMECH Journal
    Vol. 4(20) 
    2017 article DOI URL  
    Abstract: This paper proposes a new framework for planning assembly tasks involving elastic parts. As an example of these kind of assembly tasks, we deal with the insertion of ring-shaped objects into a cylinder by a dual-arm robot. The proposed framework is a combination of human movements to determine the overall assembly strategy and an optimization-based motion planner to generate the robot trajectories. The motion of the human’s hands, more specifically, the motion of the fingers gripping the object is captured by a Leap Motion Controller. Then, key points in the recorded trajectory of the position and orientation of the human’s fingers are extracted. These points are used as partial goals in the optimization-based motion planner that generates the robot arms’ trajectories which minimize the object’s deformation. Through experimental results it was verified the validity of the extracted key points from the human’s movements that enable the robot to successfully assemble ring-shaped elastic objects. We compared these results with the assembly done by purely repeating all of the human’s hands movements.
    BibTeX:
    @article{Ixchel2017RobomecJ,
      author = {Ixchel G. Ramirez‑Alpizar and Kensuke Harada and Eiichi Yoshida},
      title = {Human-based Framework for the Assembly of Elastic Objects by a Dual-arm Robot},
      journal = {ROBOMECH Journal},
      year = {2017},
      volume = {4},
      number = {20},
      url = {https://robomechjournal.springeropen.com/articles/10.1186/s40648-017-0088-0},
      doi = {http://doi.org/10.1186/s40648-017-0088-0}
    }
    
    Imamura, Y., Ayusawa, K., Endo, Y. & Yoshida, E. Simulation-based Design for Robotic Care Device: Optimizing Trajectory of Transfer Support Robot Proc. 15th IEEE Conference on Rehabilitation Robotics, pp. 851-856  2017 inproceedings [PDF
    Abstract: This paper presents a framework of simulation based design support
    for robotic care devices developed to reduce the burden of caregiver
    and care receivers. First, physical interaction between the user
    and device is quantitatively estimated by using a digital human simulator.
    Then we introduce a method for optimizing the design parameters according
    to given evaluation criteria. An example of trajectory optimization
    of transfer support robot is provided to demonstrate the effectiveness
    of the proposed method.
    BibTeX:
    @inproceedings{Imamura2017ICORR,
      author = {Yumeko Imamura and Ko Ayusawa and Yui Endo and Eichi Yoshida},
      title = {Simulation-based Design for Robotic Care Device: Optimizing Trajectory of Transfer Support Robot},
      booktitle = {Proc. 15th IEEE Conference on Rehabilitation Robotics},
      year = {2017},
      pages = {851-856}
    }
    
    Ayusawa, K., Rioux, A., Yoshida, E., Venture, G. & Gautier, M. Generating Persistently Exciting Trajectory based on Condition Number Optimization Proc. 2017 IEEE Int Conf. Robotics and Automation, pp. 6518–6524  2017 inproceedings [PDF
    Abstract: This paper presents a novel optimization method for generating persistently exciting trajectories for inertial parameters identification of a robot. The exciting performance of the trajectories is usually evaluated by the condition number of the regressor matrix, which appears in the linear regression model for identification. In this paper, the efficient formulation is presented to directly compute the gradient of the condition number with respect to joint trajectory parameters, by deriving the derivative of the singular values and regressor matrices. Direct gradient computation can enhance computational performance of optimization, which is essential for large DOF systems under many physical consistent conditions such as humanoid robots. The proposed method is validated by generating several trajectories for the humanoid robot HRP-4.
    BibTeX:
    @inproceedings{Ayusawa2017ICRA,
      author = {Ko Ayusawa and Antoine Rioux and Eiichi Yoshida and Gentiane Venture and Maxime Gautier},
      title = {Generating Persistently Exciting Trajectory based on Condition Number Optimization},
      booktitle = {Proc. 2017 IEEE Int Conf. Robotics and Automation},
      year = {2017},
      pages = {6518–6524}
    }
    
    Yoshiyasu, Y., Yoshida, E., Pirk, S. & Guibas, L. 3D Convolutional Neural Networks by Modal Fusion Proc. 2017 IEEE Int. Conf. on Image Processing  2017 inproceedings [PDF
    Abstract: We propose multi-view and volumetric convolutional neural networks (ConvNets) for 3D shape recognition, which combines surface normal and height fields to capture local geometry and physical size of an object. This strategy helps distinguishing between objects with similar geometries but different sizes. This is especially useful for enhancing volumetric ConvNets and classifying 3D scans with insufficient surface details. Experimental results on CAD and real-world scan datasets showed that our technique outperforms previous approaches.
    BibTeX:
    @inproceedings{Yoshiyasu2017ICIP,
      author = {Yusuke Yoshiyasu and Eiichi Yoshida and Soeren Pirk and Leonidas Guibas},
      title = {3D Convolutional Neural Networks by Modal Fusion},
      booktitle = {Proc. 2017 IEEE Int. Conf. on Image Processing},
      year = {2017}
    }
    
    Hsu, J., Yoshida, E., Harada, K. & Kheddar, A. Self-locking Underactuated Mechanism for Robotic Gripper Proc. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, pp. 620-627  2017 inproceedings [PDF
    Abstract: We describe the concept and first prototype of a novel mechatronic
    design of a robotic gripper, which aims at being mounted on a humanoid
    robot to achieve firm (i.e. locked) and robust grasps. Such grasps
    could ideally support complex multi-contact motions, such as ladder
    climbing, or manipulation of complex tools, with energy efficiency.
    For this purpose, we propose a solution by designing a smart self-locking
    underactuated mechanism mounted in parallel to actuators to be triggered
    automatically when the desired grasp is achieved. This design leverages
    adjustable power distribution between the gripper and the brake through
    a differential gear. The advantages of adaptive, firm grasping, and
    energy-saving capabilities of our gripper are experimentally demonstrated
    by a prototype gripper.
    BibTeX:
    @inproceedings{Hsu2017AIM,
      author = {Jui Hsu and Eiichi Yoshida and Kensuke Harada and Abderrahmane Kheddar},
      title = {Self-locking Underactuated Mechanism for Robotic Gripper},
      booktitle = {Proc. 2017 IEEE International Conference on Advanced Intelligent Mechatronics},
      year = {2017},
      pages = {620-627}
    }
    
    Imamura, Y., Ayusawa, K. & Yoshida, E. Risk Estimation for Intervertebral Disc Pressure through Musculoskeletal Joint Reaction Force Simulation Proc. 39th IEEE Annual Int. Conf. Engineering in Medicine and Biology Society  2017 inproceedings [PDF
    Abstract: In this research, a novel method that evaluates joint reaction forces
    by motion analysis using a musculoskeletal model. While general muscle
    tension estimations minimize the sum of the muscle tensions, the
    proposed method utilizes the joint reaction forces themselves in
    the objective function of the optimization problem in addition to
    conventional method.

    This method can estimate a pattern of the muscle tensions that maximizes
    or minimizes a specific joint force. As a typical outcome, the proposed
    method allows evaluating intervertebral disc compressive force caused
    by heavy work by avoiding risk underestimation. We analyzed the actual
    lifting motion as an example and confirmed that the method can estimate
    the muscle tension distribution with high risk/ low risk to the intervertebral
    disc respectively.
    BibTeX:
    @inproceedings{Imamura2017EMBC,
      author = {Yumeko Imamura and Ko Ayusawa and Eichi Yoshida},
      title = {Risk Estimation for Intervertebral Disc Pressure through Musculoskeletal Joint Reaction Force Simulation},
      booktitle = {Proc. 39th IEEE Annual Int. Conf. Engineering in Medicine and Biology Society},
      year = {2017}
    }
    
    Ayusawa, K. & Yoshida, E. Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization Robotics: Science and Systems XIII  2017 inproceedings [PDF
    Abstract: This paper presents a novel unified theoretical framework for differential kinematics and dynamics for complex robot motion optimization. By introducing 18 times 18 comprehensive motion transformation matrix (CMTM), forward differential kinematics and dynamics including velocity and acceleration can be written in a simple chain products like ordinary rotational matrix. This formulation enables analytical computation of derivative of various physical quantities including joint force or torques with respect to joint coordinate variables and their derivatives for a robot trajectory in an efficient manner (O(Nj), where Nj is the number of the robot's DOF), which is useful for motion optimization.
    BibTeX:
    @inproceedings{Ayusawa2017RSS,
      author = {Ko Ayusawa and Eiichi Yoshida},
      title = {Comprehensive Theory of Differential Kinematics and Dynamics for Motion Optimization},
      booktitle = {Robotics: Science and Systems XIII},
      year = {2017}
    }
    
    Ayusawa, K., Yoshida, E., Imamura, Y. & Tanaka, T. New Evaluation Framework for Human-assistive Devices Based on Humanoid Robotics Advanced Robotics
    Vol. 30(8), pp. 519-534 
    2016 article DOI [PDF
    BibTeX:
    @article{Ayusawa16AR,
      author = {Ko Ayusawa and Eiichi Yoshida and Yumeko Imamura and Takayuki Tanaka},
      title = {New Evaluation Framework for Human-assistive Devices Based on Humanoid Robotics},
      journal = {Advanced Robotics},
      year = {2016},
      volume = {30},
      number = {8},
      pages = {519-534},
      doi = {http://doi.org/10.1080/01691864.2016.1145596}
    }
    
    Vaillant, J., Kheddar, A., Audren, H., Keith, F., Brossette, S., Escande, A., Bouyarman, K., Kaneko, K., Morisawa, M., Gergondet, P., Yoshida, E., Kajita, S. & Kanehiro, F. Multi-contact vertical ladder climbing with an HRP-2 humanoid Autonomous Robots
    Vol. 40(3), pp. 561–580 
    2016 article DOI  
    Abstract: We describe the research and the integration methods we developed
    to make the HRP-2 humanoid robot climb vertical industrial-norm ladders.
    We use our multi-contact planner and multi-objective closed-loop
    control formulated as a QP (quadratic program). First, a set of contacts
    to climb the ladder is planned off-line (automatically or by the
    user). These contacts are provided as an input for a finite state
    machine. The latter builds supplementary tasks that account for geometric
    uncertainties and specific grasps procedures to be added to the QP
    controller. The latter provides instant desired states in terms of
    joint accelerations and contact forces to be tracked by the embedded
    low-level motor controllers. Our trials revealed that hardware changes
    are necessary, and parts of software must be made more robust. Yet,
    we confirmed that HRP-2 has the kinematic and power capabilities
    to climb real industrial ladders, such as those found in nuclear
    power plants and large scale manufacturing factories (e.g. aircraft,
    shipyard) and construction sites.
    BibTeX:
    @article{Viallant2016AuRo,
      author = {Joris Vaillant and Abderrahmane Kheddar and Hervé Audren and François Keith and Stanislas Brossette and Adrien Escande and Karim Bouyarman and Kenji Kaneko and Mitsuharu Morisawa and Pierre Gergondet and Eiichi Yoshida and Suuji Kajita and Fumio Kanehiro},
      title = {Multi-contact vertical ladder climbing with an HRP-2 humanoid},
      journal = {Autonomous Robots},
      year = {2016},
      volume = {40},
      number = {3},
      pages = {561–580},
      doi = {http://doi.org/10.1007/s10514-016-9546-4}
    }
    
    Yoshiyasu, Y., Yoshida, E. & Guibas, L. Symmetry Aware Embedding for Shape Correspondence Computer & Graphics
    Vol. 60, pp. 9-22 
    2016 article  
    BibTeX:
    @article{Yoshiyasu16CG,
      author = {Yusuke Yoshiyasu and Eichi Yoshida and Leonidas Guibas},
      title = {Symmetry Aware Embedding for Shape Correspondence},
      journal = {Computer & Graphics},
      year = {2016},
      volume = {60},
      pages = {9-22}
    }
    
    Jovic, J., Escande, A., Ayusawa, K., Yoshida, E., Kheddar, A. & Venture, G. Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization IEEE Transaction on Robotics
    Vol. 32(3), pp. 726-735 
    2016 article DOI [PDF
    Abstract: We propose a method for estimation of humanoids and humans links inertial
    parameters. Our approach formulates the problem as a hierarchical
    quadratic program by exploiting the linear properties of rigid body
    dynamics with respect to the inertia parameters. In order to assess
    our algorithm we conducted experiments with a humanoid robot and
    a human subject. We compared ground reaction forces and moments estimated
    from force measurements with those computed using identified inertia
    parameters and movement information. Our method is able to accurately
    reconstruct ground reaction forces and force moments. Moreover, our
    method is able to estimate correctly masses of the robots links,
    and to accurately detect additional masses placed on the human subject
    during the experiments.
    BibTeX:
    @article{Jovic2016TRO,
      author = {Jovana Jovic and Adrien Escande and Ko Ayusawa and Eiichi Yoshida and Abderrahmane Kheddar and Gentiane Venture},
      title = {Humanoid and Human Inertia Parameter Identification Using Hierarchical Optimization},
      journal = {IEEE Transaction on Robotics},
      year = {2016},
      volume = {32},
      number = {3},
      pages = {726-735},
      doi = {http://doi.org/10.1109/TRO.2016.2558190}
    }
    
    Cisneros, R., Yokoi, K. & Yoshida, E. Impulsive Pedipulation of a Spherical Object with 3D Goal Position by a Humanoid Robot: A 3D Targeted Kicking Motion Generator International Journal of Humanod Robotics
    Vol. 13(2), pp. 1650003-1 - 1650003-43 
    2016 article DOI [PDF
    BibTeX:
    @article{Cisneros2016IJHR,
      author = {Rafael Cisneros and Kazuhito Yokoi and Eichi Yoshida},
      title = {Impulsive Pedipulation of a Spherical Object with 3D Goal Position by a Humanoid Robot: A 3D Targeted Kicking Motion Generator},
      journal = {International Journal of Humanod Robotics},
      year = {2016},
      volume = {13},
      number = {2},
      pages = {1650003-1 - 1650003-43},
      doi = {http://doi.org/10.1142/S0219843616500031}
    }
    
    Yoshida, E. 67.5 Whole-body Activities (Chapter 67 Humanoids, Part G Robots and Humans) Springer Handbook of Robotics, 2nd Edition, pp. 1801-1809  2016 incollection DOI  
    BibTeX:
    @incollection{Yoshida16HandbookSpringer,
      author = {Eiichi Yoshida},
      editor = {Bruno Siciliano and Oussama Khatib},
      title = {67.5 Whole-body Activities (Chapter 67 Humanoids, Part G Robots and Humans)},
      booktitle = {Springer Handbook of Robotics, 2nd Edition},
      publisher = {Springer},
      year = {2016},
      pages = {1801-1809},
      doi = {http://doi.org/10.1007/978-3-319-32552-1}
    }
    
    Ramirez-Alpizar, I.G., Naveau, M., Benazeth, C., Stasse, O., Laumond, J.-P., Harada, K. & Yoshida, E. Motion Generation for Pulling a Fire Hose by a Humanoid Robot Proc. 2016 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 1016-1021  2016 inproceedings [PDF
    Abstract: This paper discusses a strategy for a humanoid robot to pull a fire
    hose while walking towards a desired position and orientation. A
    hybrid controller on the robot’s wrist holding the fire hose is implemented
    for pulling it. The proposed controller can automatically determine
    the pulling force according to the robot’s walking velocity. Through
    simulation analysis it is shown that when the robot walks while pulling
    the fire hose a drift in the walking direction is generated. To cope
    with this drift and to direct the robot to a desired position and
    orientation, a walking task is introduced. Using a motion capture
    system, the robot’s chest position and orientation are monitored
    and feed to the robot’s walking pattern generator to correct the
    orientation drift and to determine where to walk and when to stop
    walking. Through experimental results the validity of the proposed
    strategy was confirmed. It is shown that the proposed hybrid controller
    contributes to the improvement of the robot’s balance when walking.
    BibTeX:
    @inproceedings{Humanoids2016Ixchel,
      author = {Ixchel G. Ramirez-Alpizar and Maximilien Naveau and Christophe Benazeth and Olivier Stasse and Jean-Paul Laumond and Kensuke Harada and Eiichi Yoshida},
      title = {Motion Generation for Pulling a Fire Hose by a Humanoid Robot},
      booktitle = {Proc. 2016 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2016},
      pages = {1016-1021}
    }
    
    Morishima, S., Ayusawa, K., Yoshida, E. & Venture, G. Whole-Body Motion Retargeting using Constrained Smoothing and Functional Principle Component Analysis Proc. 2016 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 294-299  2016 inproceedings [PDF
    Abstract: This paper presents a novel retargeting framework for humanoid robots
    that allows flexible motion representation and motion synthesis with
    smoothing with constraints and functional principle component analysis
    (Functional PCA). Constrained smoothing consists in computing base
    functions through optimizations with constraints including mechanical
    limits and stability conditions. By applying Functional PCA that
    is a statistic method describing given motions with principal components
    of functions, a variety of different motions can be expressed with
    a small number of parameters. We apply the proposed framework to
    whole-body ”squat” motions to reveal that those motions can practically
    be classified with two components. The effectiveness of the proposed
    method is verified by dynamic simulations and experiments with the
    humanoid robot HRP-4.
    BibTeX:
    @inproceedings{Humanoids2016Morishima,
      author = {Saori Morishima and Ko Ayusawa and Eiichi Yoshida and Gentiane Venture},
      title = {Whole-Body Motion Retargeting using Constrained Smoothing and Functional Principle Component Analysis},
      booktitle = {Proc. 2016 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2016},
      pages = {294-299}
    }
    
    Ito, T., Ayusawa, K., Yoshida, E. & Kobayashi, H. Stationary Torque Replacement for Evaluation of Active Assistive Devices using Humanoid Proc. 2016 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 739-744  2016 inproceedings [PDF
    Abstract: This paper presents a method called "stationary torque replacement"
    for evaluating the supportive effect of active wearable assistive
    devices that are designed to help humans move with actuators, by
    using a humanoid robot. The proposed method allows the humanoid to
    estimate torque equivalent to the output supportive torque of the
    assistive device in static postures retargeted from measured human
    motions. The scheme is characterized by quantitative evaluation under
    situations close to actual human usage with a humanoid that reproduces
    human motions by maintaining its balance the wearable devices. In
    order to validate the proposed method, we have evaluated an active
    wearable device "Muscle Suit" powered by pneumatic actuators by using
    the full- size humanoid platform HRP-4.
    BibTeX:
    @inproceedings{Ito2017Humanoids,
      author = {Takahiro Ito and Ko Ayusawa and Eiichi Yoshida and Hiroshi Kobayashi},
      title = {Stationary Torque Replacement for Evaluation of Active Assistive Devices using Humanoid},
      booktitle = {Proc. 2016 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2016},
      pages = {739-744}
    }
    
    Mittendorfer, P., Yoshida, E. & Cheng, G. Realizing Whole-body Tactile Interactions with a Self-organizing, Multi-modal Artificial Skin on a Humanoid Robot Advanced Robotics
    Vol. 29(1), pp. 51-67 
    2015 article DOI [PDF
    Abstract: In this paper, we present a new approach to realize whole-body tactile
    interactions with a self-organizing, multi-modal artificial skin
    on a humanoid robot. We, therefore, equipped the whole upper body
    of the humanoid HRP-2 with various patches of CellulARSkin – a modular
    artificial skin. In order to automatically handle a potentially high
    number of tactile sensor cells and motors units, the robot uses open-loop
    exploration motions, and distributed accelerometers in the artificial
    skin cells, to acquire its self-centered sensory-motor knowledge.
    This body self-knowledge is then utilized to transfer multi-modal
    tactile stimulations into reactive body motions. Tactile events provide
    feedback on changes of contact on the whole-body surface. We demonstrate
    the feasibility of our approach on a humanoid, here HRP-2, grasping
    large and unknown objects only via tactile feedback. Kinesthetically
    taught grasping trajectories, are reactively adapted to the size
    and stiffness of different test objects. Our paper contributes the
    first realization of a self-organizing tactile sensor-behavior mapping
    on a full-sized humanoid robot, enabling a position controlled robot
    to compliantly handle objects.
    Note: 2016 Advanced Robotics Best Paper Award
    BibTeX:
    @article{Mittendorfer2015AR,
      author = {Philipp Mittendorfer and Eiichi Yoshida and Gordon Cheng},
      title = {Realizing Whole-body Tactile Interactions with a Self-organizing, Multi-modal Artificial Skin on a Humanoid Robot},
      journal = {Advanced Robotics},
      year = {2015},
      volume = {29},
      number = {1},
      pages = {51-67},
      note = {2016 Advanced Robotics Best Paper Award},
      doi = {http://doi.org/10.1080/01691864.2014.952493}
    }
    
    Hobara, H., Kobayashi, Y., Yoshida, E. & Mochimaru, M. Leg stiffness of older and younger individuals over a range of hopping frequencies Journal of Electromyography and Kinesiology
    Vol. 25(2), pp. 305-309 
    2015 article DOI [PDF
    BibTeX:
    @article{Hobara2015JEK,
      author = {Hiroaki Hobara and Yoshiyuki Kobayashi and Eiichi Yoshida and Masaaki Mochimaru},
      title = {Leg stiffness of older and younger individuals over a range of hopping frequencies},
      journal = {Journal of Electromyography and Kinesiology},
      year = {2015},
      volume = {25},
      number = {2},
      pages = {305-309},
      doi = {http://doi.org/10.1016/j.jelekin.2015.02.004}
    }
    
    Yoshida, E., Ayusawa, K., Ramirez-Alpizar, I.G., Harada, K., Duriez, C. & Kheddar, A. Simulation-based Optimal Motion Planning for Deformable Object Proc. 2015 IEEE Int. Workshop on Advanced Robotics and its Social Impacts, pp. 1-6  2015 inproceedings [PDF
    Review: This paper presents a method for planning motions of a flexible objects
    based on precise simulation using Finite Element Method (FEM). The
    proposed method is applied to ring-shape objects manipulated by robot
    arms, which is often seen in various applications. Since large deformation
    is implied, assembly planning with realistic simulation is important
    to ensure task efficiency for the robot and also to avoid damage
    of the object. We first verify that the behavior of a ring-shape
    object by dual-arm manipulation is well predicted using FEM model
    of bent beam through a simulation along the trajectory computed by
    optimization-based motion planning previously reported. Next, a precise
    FEM model is integrated into optimization to compute a trajectory
    of robot hands minimizing the deformation energy as well as satisfying
    such criteria as collision avoidance and smoothness. Since the direct
    computation leads huge computational cost, we present a realistic
    formula which transforms the planning problem into the static equilibrium
    problem of several FEM models located along the trajectory. Simulation
    results show that the proposed method is promising for such assembly
    tasks requiring large deformation.
    BibTeX:
    @inproceedings{Yoshida2015ARSO,
      author = {Eiichi Yoshida and Ko Ayusawa and Ixchel G. Ramirez-Alpizar and Kensuke Harada and Chrstien Duriez and Abderrahmane Kheddar},
      title = {Simulation-based Optimal Motion Planning for Deformable Object},
      booktitle = {Proc. 2015 IEEE Int. Workshop on Advanced Robotics and its Social Impacts},
      year = {2015},
      pages = {1-6}
    }
    
    Ayusawa, K., Morisawa, M. & Yoshida, E. Motion Retargeting for Humanoid Robots Based on Identification to Preserve and Reproduce Human Motion Features Proc. 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2774-2779  2015 inproceedings [PDF
    Abstract: This paper presents the method to retarget human motion. The method
    can evaluate the ability of the preservation of the original characteristics
    of human motion data. It enables to compute the joint trajectories
    of the human corresponding with the retargeted ones of the robot
    at the same time, by utilizing the geometric identification technique.
    The obtained trajectories of a human are the solution to minimize
    the cost function about motion reproduction. The proposed method
    is efficient for such applications that the robot needs to mimic
    human motion without modifying the detailed features of the original
    movement of each body segment. The results of the retargeted motions
    to a humanoid robot are shown.
    BibTeX:
    @inproceedings{Ayusawa2015IROS,
      author = {Ko Ayusawa and Mitsuharu Morisawa and Eichi Yoshida},
      title = {Motion Retargeting for Humanoid Robots Based on Identification to Preserve and Reproduce Human Motion Features},
      booktitle = {Proc. 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2015},
      pages = {2774-2779}
    }
    
    Jovic, J., Philipp, F., Escande, A., Ayusawa, K., Yoshida, E., Kheddar, A. & Venture, G. Identification of dynamics of humanoids: systematic exciting motion generation Proc. 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2173-2179  2015 inproceedings [PDF
    Abstract: The mass parameters of robots influence performances of model-based
    control and validation of the simulation results. The mass parameters
    provided by CAD data are usually rough approximation of the true
    parameters. Therefore several methods for estimation of those parameters
    have been proposed. Their precision depends on the used motion, called
    optimal exciting trajectories. This paper describes a new approach
    to determine humanoid robot exciting trajectories for mass parameters
    identification. The method was inspired by the studies done in the
    field of human mass parameters identification, and it is based on
    observation of condition numbers of sub-regressor matrices created
    from the columns of the regressor matrix. The method has been experimentally
    applied to identify mass parameters of HRP-2 and HRP-4 humanoid robots.
    The proposed method is able to reconstruct ground reaction forces
    and force moments more accurately than parameters obtained from CAD
    data.
    BibTeX:
    @inproceedings{Jovic2015IROS,
      author = {Jovana Jovic and Franck Philipp and Adrien Escande and Ko Ayusawa and Eiichi Yoshida and Abderrahmane Kheddar and Gentiane Venture},
      title = {Identification of dynamics of humanoids: systematic exciting motion generation},
      booktitle = {Proc. 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2015},
      pages = {2173-2179}
    }
    
    Suleiman, W., Kanehiro, F. & Yoshida, E. Infeasibility-free Inverse Kinematics Method Proc. 2015 IEEE/SICE International Symposium on System Integration, pp. 507-512  2015 inproceedings [PDF
    Abstract: The problem of inverse kinematics is revisited in the present paper.
    The paper is focusing on the problem of solving the inverse kinematics
    problem while respecting velocity limits on both the robot's joints
    and the end-effector. Even though the conventional inverse kinematics
    algorithms have been proven to be efficient in many applications,
    defining an admissible trajectory for the end-effector is still a
    burdensome task for the user, and the problem can be easily become
    unsolvable. The main idea behind the proposed algorithms is to consider
    the sampling time as a free variable, hence adding more flexibility
    to the optimization problem associated with the inverse kinematics.
    We prove that the reformulated problem has always a solution if the
    end-effector path is in the reachable space of the robot, thus solving
    the problem of infeasibility of conventional inverse kinematics methods.
    To validate the proposed approach, we have conducted three simulations
    scenarios. The simulation results point that while the conventional
    inverse kinematics methods fail to track precisely a desired end-effector
    trajectory, the proposed algorithms always succeed.
    BibTeX:
    @inproceedings{Suleiman2015SII,
      author = {Wael Suleiman and Fumio Kanehiro and Eichi Yoshida},
      title = {Infeasibility-free Inverse Kinematics Method},
      booktitle = {Proc. 2015 IEEE/SICE International Symposium on System Integration},
      year = {2015},
      pages = {507-512}
    }
    
    Imamura, Y., Tanaka, T., Ayusawa, K. & Yoshida, E. Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion Proc. 2015 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 1149-1154  2015 inproceedings [PDF
    Abstract: A passive power-assist supporter, called Smart Suit Lite, aims at
    reducing the lumbar load utilizing the tension of elastic belts.
    Its design method is based on a digital human model and motion measurements.
    This paper presents basic experiments using humanoid robot HRP-4
    for verifying the design model of the suit. In the experiment, the
    joint torques of the robot and the elastic force of Smart Suit Lite
    were measured. We found that the decrease of the chest pitch torque
    during slow forward bending motion on the sagittal plane was consistent
    with simulation results. In addition, the effects for three-dimensional
    motion including chest pitching and yawing also indicated a similar
    tendency to the simulation. Because we performed quantitative evaluation
    of the effects by each part of the suit, these results are considered
    to provide useful information to the optimization of Smart Suit Lite.
    BibTeX:
    @inproceedings{Imamura2015Humanoids,
      author = {Yumeko Imamura and Takayuki Tanaka and Ko Ayusawa and Eiichi Yoshida},
      title = {Verification of Passive Power-Assist Device Using Humanoid Robot: Effect on Bending and Twisting Motion},
      booktitle = {Proc. 2015 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2015},
      pages = {1149-1154}
    }
    
    Yoshiyasu, Y., Ayusawa, K., Yoshida, E., Matsumoto, Y. & Endo, Y. Forward Dynamics Simulation of Human Figures on Assistive Devices using Geometric Skin Deformation Model Proc. 37th IEEE Annual Int. Conf. Engineering in Medicine and Biology Society, pp. 2442-2445  2015 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshiyasu2015EMBC,
      author = {Yusuke Yoshiyasu and Ko Ayusawa and Eichi Yoshida and Yoshio Matsumoto and Yui Endo},
      title = {Forward Dynamics Simulation of Human Figures on Assistive Devices using Geometric Skin Deformation Model},
      booktitle = {Proc. 37th IEEE Annual Int. Conf. Engineering in Medicine and Biology Society},
      year = {2015},
      pages = {2442-2445}
    }
    
    Morishima, S., Ayusawa, K., Yoshida, E. & Venture, G. Converting constrained whole-body human motions to humanoid using smoothing Proc. 6th Int. Conf. on Advanced Mechatronics, pp. 314  2015 inproceedings [PDF
    Abstract: This paper presents a method for generating a whole-body squat motion
    for humanoid robot HRP-4 from human motion data. We convert joint
    angle trajectories into linear combination of base functions which
    are cubic B splines. In order to take into account the interactions
    with the environment and the stability conditions, we added appropriate
    kinematics constraints to the trajectory optimization to perform
    smoothing of whole-body motion. We investigated the validity of this
    method by using dynamical simulator and we succeeded in simulating
    squat motion with this method.
    BibTeX:
    @inproceedings{Morishima2015ICAM,
      author = {Saori Morishima and Ko Ayusawa and Eiichi Yoshida and Gentiane Venture},
      title = {Converting constrained whole-body human motions to humanoid using smoothing},
      booktitle = {Proc. 6th Int. Conf. on Advanced Mechatronics},
      year = {2015},
      pages = {314}
    }
    
    Kanehiro, F., Yoshida, E. & Yokoi, K. Efficient reaching motion planning method for low-level autonomy of teleoperated humanoid robots Advanced Robotics
    Vol. 28(7), pp. 433–439 
    2014 article DOI [PDF
    Abstract: This paper addresses an efficient reaching motion planning method
    tailored for teleoperated humanoid robots in complex environments.
    This method offers low-level autonomy that allows the robot to autonomously
    plan and execute simple tasks, thus making teleoperation easy. Efficiency
    is achieved by combining the phases of planning and execution. The
    planning phase quickly decides on a reaching motion by approximating
    mass distribution which enables analytical solutions of inverse kinematics.
    The execution phase executes the planned path while compensating
    for the approximation error, as long as other constraints are maintained.
    Simulations confirm that (1) a reaching motion is planned in approximately
    one second for the HRP-2 humanoid robot with 30 degrees of freedom
    in a constrained environment with pipes and (2) the execution is
    done in real-time.
    BibTeX:
    @article{Kanehiro14AR,
      author = {Fumio Kanehiro and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Efficient reaching motion planning method for low-level autonomy of teleoperated humanoid robots},
      journal = {Advanced Robotics},
      year = {2014},
      volume = {28},
      number = {7},
      pages = {433–439},
      doi = {http://doi.org/10.1080/01691864.2013.876931}
    }
    
    Yoshiyasu, Y., Ma, W.-C., Yoshida, E. & Kanehiro, F. As-Conformal-As-Possible Surface Registration Computer Graphics Forum
    Vol. 33(5), pp. 257-267 
    2014 article DOI [PDF
    Abstract: We present a non-rigid surface registration technique that can align
    surfaces with sizes and shapes that are different from each other,
    while avoiding mesh distortions during deformation. The registration
    is constrained locally as conformal as possible such that the angles
    of triangle meshes are preserved, yet local scales are allowed to
    change. Based on our conformal registration technique, we devise
    an automatic registration and interactive registration technique,
    which can reduce user interventions during template fitting. We demonstrate
    the versatility of our technique on a wide range of surfaces.
    BibTeX:
    @article{Yoshiyasu14CGF,
      author = {Yusuke Yoshiyasu and Wan-Chun Ma and and Eiichi Yoshida and Fumio Kanehiro},
      title = {As-Conformal-As-Possible Surface Registration},
      journal = {Computer Graphics Forum},
      year = {2014},
      volume = {33},
      number = {5},
      pages = {257-267},
      doi = {http://doi.org/10.1111/cgf.12451}
    }
    
    Moulard, T., Chrétien, B. & Yoshida, E. Software Tools for Nonlinear Optimization - Modern Solvers and Toolboxes for Robotics - Journal of the Robotics Society of Japan (日本ロボット学会誌)
    Vol. 32(6), pp. 536-541 
    2014 article DOI [PDF
    Abstract: This article reviews the state-of-the-art of nonlinear solvers as
    well as frameworks for numerical optimization, which is more and
    more utilized for robotics applications. We will discuss the features
    and project status for each solver and detail how one can use a numerical
    optimization framework to avoid being limited to a particular solver.
    The comparison allows to choose the appropriate strategy in robotics
    where trajectory generation, posture generation, control can be implemented
    as different types of optimization problems.
    BibTeX:
    @article{Moulard14JRSJ,
      author = {Thomas Moulard and Bejamin Chrétien and Eiichi Yoshida},
      title = {Software Tools for Nonlinear Optimization - Modern Solvers and Toolboxes for Robotics -},
      journal = {Journal of the Robotics Society of Japan (日本ロボット学会誌)},
      year = {2014},
      volume = {32},
      number = {6},
      pages = {536-541},
      doi = {dx.doi.org/10.7210/jrsj.32.536}
    }
    
    Mikami, Y., Moulard, T., Yoshida, E. & Venture, G. Study on Dynamics Identification of the Foot Viscoelasticity of a Humanoid Robot Proc. 19th World Congress, The International Federation of Automatic Control, pp. 10219-10224  2014 inproceedings [PDF
    BibTeX:
    @inproceedings{Mikami14IFAC,
      author = {Yuya Mikami and Thomas Moulard and Eichii Yoshida and Gentiane Venture},
      title = {Study on Dynamics Identification of the Foot Viscoelasticity of a Humanoid Robot},
      booktitle = {Proc. 19th World Congress, The International Federation of Automatic Control},
      year = {2014},
      pages = {10219-10224}
    }
    
    Yoshiyasu, Y., Yoshida, E., Yokoi, K. & Sagawa, R. Symmetry-Aware Nonrigid Matching of Incomplete 3D Surfaces Proc. 2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR14), pp. 4193-4200  2014 inproceedings [PDF
    Abstract: We present a nonrigid shape matching technique for establishing correspondences
    of incomplete 3D surfaces that exhibit intrinsic reflectional symmetry.
    The key for solving the symmetry ambiguity problem is to use a point-wise
    local mesh descriptor that has orientation and is thus sensitive
    to local reflectional symmetry, e.g. discriminating the left hand
    and the right hand. We devise a way to compute the descriptor orientation
    by taking the gradients of a scalar field called the average diffusion
    distance (ADD). Because ADD is smoothly defined on a surface, invariant
    under isometry/scale and robust to topological errors, the robustness
    of the descriptor to non-rigid deformations is improved. In addition,
    we propose a graph matching algorithm called iterative spectral relaxation
    which combines spectral embedding and spectral graph matching. This
    formulation allows us to define pairwise constraints in a scale-invariant
    manner from k-nearest neighbor local pairs such that non-isometric
    deformations can be robustly handled. Experimental results show that
    our method can match challenging surfaces with global intrinsic symmetry,
    data incompleteness and non-isometric deformations.
    BibTeX:
    @inproceedings{Yoshiyasu14CVPR,
      author = {Yusuke Yoshiyasu and Eiichi Yoshida and Kazuhito Yokoi and Ryusuke Sagawa},
      title = {Symmetry-Aware Nonrigid Matching of Incomplete 3D Surfaces},
      booktitle = {Proc. 2014 IEEE Conference on Computer Vision and Pattern Recognition (CVPR14)},
      year = {2014},
      pages = {4193-4200}
    }
    
    Cisneros, R., Yokoi, K. & Yoshida, E. Yaw Moment Compensation By Using Full Body Motion Proc. 2014 IEEE Int Conf. Mechatronics and Automation (ICMA 2014), pp. 119-125  2014 inproceedings  
    BibTeX:
    @inproceedings{Cisneros2014ICMA,
      author = {Rafael Cisneros and Kazuhito Yokoi and Eichi Yoshida},
      title = {Yaw Moment Compensation By Using Full Body Motion},
      booktitle = {Proc. 2014 IEEE Int Conf. Mechatronics and Automation (ICMA 2014)},
      year = {2014},
      pages = {119-125}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E. & Nagata, K. Early Failure Characterization of Cantilever Snap Assemblies using the PA-RCBHT Proc. 2014 IEEE Int Conf. Robotics and Automation, pp. 3370-3377  2014 inproceedings [PDF
    Abstract: Failure detection and correction is essential in robust systems. In
    robotics, failure detection has focused on traditional parts assembly,
    tool breakage, and threaded fastener assembly. However, not much
    work has focused on subclassifying failure into various sub-modes.
    This is an important step in order to provide accurate failure recovery.
    Our work implemented a failure characterization scheme for cantilever
    snap assemblies. A rule based approach was used through which early
    failure identification of assemblies whose trajectories deviated
    from the normal were identified. We not only identified failure but
    also the failure type’s that occurred along with a reliability measure.
    The approach identified exemplars that characterized salient features
    for specific deviations from the standard Approach trajectory in
    the Pivot Approach control strategy. Statistical measures were used
    to classify the data. Our work classified failure deviations with
    88% accuracy. Varying success was experienced in correlating failure
    deviation modes. Cases with only 1-deviation had 86% accuracy, cases
    with 2-deviations had 67% accuracy, and cases with 3 deviations had
    55% accuracy. Our work is an important step in failure characterization
    of complex geometrical parts and serves as a stepping stone to enact
    failure recovery.
    BibTeX:
    @inproceedings{Rojas2014ICRA,
      author = {Juan Rojas and Kensuke Harada and Horomu Onda and Natsuki Yamanobe and Eiichi Yoshida and Kazuyuki Nagata},
      title = {Early Failure Characterization of Cantilever Snap Assemblies using the PA-RCBHT},
      booktitle = {Proc. 2014 IEEE Int Conf. Robotics and Automation},
      year = {2014},
      pages = {3370-3377}
    }
    
    Audren, H., Vaillant, J., Kheddar, A., Escande, A., Kaneko, K. & Yoshida, E. Model Preview Control in Multi-Contact Motion - Application to a Humanoid Robot Proc. 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4030-4035  2014 inproceedings [PDF
    Abstract: Our work builds largely on Nagasaka’s stabilizer in multi-contact
    motion [1]. Using a sequence of contact stances from an offline multi-contact
    planner, we use first a Model Predictive Controller to generate a
    dynamic trajectory of the center of mass, then a whole-body closed-loop
    model-based controller to track it at best. Relatively to Nagasaka’s
    work, we allow frame changes of the preferred force, provide a heuristic
    to compute the timing of the transition from purely geometrical features
    and investigate the synchronization problem between the reduced-model
    preview control and the whole-body controller. Using our framework,
    we generate a wide range of 3D motions, while accounting for predictable
    external forces, which includes transporting objects. Simulation
    scenarios are presented and obtained results are analyzed and discussed.
    BibTeX:
    @inproceedings{Audren14IROS,
      author = {Hervé Audren and Joris Vaillant and Abderrahmane Kheddar and Adrien Escande and Kenji Kaneko and Eiichi Yoshida},
      title = {Model Preview Control in Multi-Contact Motion - Application to a Humanoid Robot},
      booktitle = {Proc. 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2014},
      pages = {4030-4035}
    }
    
    Mikami, Y., Moulard, T., Yoshida, E. & Venture, G. Identification of HRP-2 Foot's Dynamics Proc. 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 927-932  2014 inproceedings [PDF
    Abstract: This paper describes the identification of HRP-2 foot’s dynamics.
    It is expected that a humanoid robot will work in the same environment
    as man. For that purpose, safety of operation is important. Although
    a simulator is used for confirming safe conditions of operation,
    an error may arise in a dynamic parameter by the robot of a simulator,
    and an actual robot. In this paper, it identified about the viscoelasticity
    of the sole bush for impact absorption at the time of the walk of
    humanoid robot HRP-2. We used some simple active motions and composed
    these motions. We identified parameter using composed motions. We
    finally compare the identified parameters using the experimental
    results and simulator results.
    BibTeX:
    @inproceedings{Mikami14IROS,
      author = {Yuya Mikami and Thomas Moulard and Eichi Yoshida and Gentiane Venture},
      title = {Identification of HRP-2 Foot's Dynamics},
      booktitle = {Proc. 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2014},
      pages = {927-932}
    }
    
    Ayusawa, K., Nakaoka, S., Yoshida, E., Imamura, Y. & Tanaka, T. Evaluation of Assistive Devices Using Humanoid Robot with Mechanical Parameters Identification Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 205-211  2014 inproceedings [PDF
    Abstract: This paper presents the application of a humanoid robot as an evaluator
    of assistive devices; we propose a framework of the evaluation by
    utilizing identification of the mechanical properties of a humanoid
    robot. The accurate estimation of joint torque with the identification
    can enhance the performance to estimate the supporting effect of
    the devices. We evaluate a passive assistive wear ”Smart Suit Lite
    (SSL)”as an example of device, and use HRP-4C as the humanoid platform.
    With the general formulation of the wire-driven multi-body system,
    the supporting torque of passive assistive devices is also formulated.
    The identification of the stiffness of SSL is performed an example
    of the evaluation with HRP-4C, and the result is compared to the
    ground truth value.
    BibTeX:
    @inproceedings{Ayusawa2014Humanoids,
      author = {Ko Ayusawa and Shin'ichiro Nakaoka and Eiichi Yoshida and Yumeko Imamura and Takayuki Tanaka},
      title = {Evaluation of Assistive Devices Using Humanoid Robot with Mechanical Parameters Identification},
      booktitle = {Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2014},
      pages = {205-211}
    }
    
    Cisneros, R., Yoshida, E. & Yokoi, K. Partial Yaw Moment Compensation Through Whole-Body Motion Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 329-335  2014 inproceedings [PDF
    Abstract: This paper describes a generalized approach for compensating just
    the required yaw moment of a humanoid robot about the Zero Moment
    Point (ZMP) while performing an arbitrary motion, in order to prevent
    unwanted / unexpected yaw rotations. This is done by modifying the
    motion of any set of joints with low priority tasks that can be arbitrarily
    selected before-hand. Finally, some simulation results are provided,
    which intend to show the validity of this approach.
    BibTeX:
    @inproceedings{Cisneros2014Humanoids,
      author = {Rafael Cisneros and Eichi Yoshida and Kazuhito Yokoi},
      title = {Partial Yaw Moment Compensation Through Whole-Body Motion},
      booktitle = {Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2014},
      pages = {329-335}
    }
    
    Ramirez-Alpizar, I.G., Harada, K. & Yoshida, E. Motion Planning for Dual-arm Assembly of Ring-shaped Elastic Objects Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 594-600  2014 inproceedings [PDF
    BibTeX:
    @inproceedings{Ixchel14Humanoids,
      author = {Ixchel G. Ramirez-Alpizar and Kensuke Harada and Eiichi Yoshida},
      title = {Motion Planning for Dual-arm Assembly of Ring-shaped Elastic Objects},
      booktitle = {Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2014},
      pages = {594-600}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E. & Nagata, K. Contextualized Early Failure Characterization of Cantilever Snap Assemblies Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 380-387  2014 inproceedings [PDF
    BibTeX:
    @inproceedings{Rojas14Humanoids,
      author = {Juan Rojas and Kensuke Harada and Hiromu Onda and Natsuki Yamanobe and Eichi Yoshida and Kazuyuki Nagata},
      title = {Contextualized Early Failure Characterization of Cantilever Snap Assemblies},
      booktitle = {Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2014},
      pages = {380-387}
    }
    
    Vaillant, J., Kheddar, A., Audren, H., Keith, F., Brossette, S., Kaneko, K., Morisawa, M., Yoshida, E. & Kanehiro, F. Vertical Ladder Climbing by HRP-2 Humanoid Robot Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 671-676  2014 inproceedings [PDF
    Abstract: We report on results obtained from our attempts in making the HRP-2
    humanoid robot climb up-and-down vertical industrial-norm ladders.
    Our approach makes use of our multi-contact planner and multi-objective
    QP control as basic components. First, a set of contacts to climb
    the ladder is planned off-line and provided as an input for a finite
    state machine that sequence tasks to be realized by our multi-objective
    model-based QP closed-loop control. The latter outcome desired states
    in terms of joint accelerations, contact forces. Our trials revealed
    that hardware changes are to be made on the HRP-2 and software to
    be made more robust. Yet, we confirmed that HRP-2 has the kinematic
    and power capability to climb real industrial ladders, such as those
    found in nuclear power plants and large scale manufacturing such
    as shipyards and buildings.
    BibTeX:
    @inproceedings{Vaillant2014Humanoids,
      author = {Joris Vaillant and Abderrahmane Kheddar and Hervé Audren and Franoçis Keith and Stanislass Brossette and Kenji Kaneko and Mitsuharu Morisawa and Eiichi Yoshida and Fumio Kanehiro},
      title = {Vertical Ladder Climbing by HRP-2 Humanoid Robot},
      booktitle = {Proc. 2014 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2014},
      pages = {671-676}
    }
    
    Imamura, Y., Tanaka, T., Ayusawa, K. & Yoshida, E. Verification of Assistive Effect Generated by Passive Power-Assist Device Using Humanoid Robot Proc. IEEE/SICE International Symposium on System Integration, pp. 761-766  2014 inproceedings [PDF
    BibTeX:
    @inproceedings{Imamura2014SII,
      author = {Yumeko Imamura and Takayuki Tanaka and Ko Ayusawa and Eichi Yoshida},
      title = {Verification of Assistive Effect Generated by Passive Power-Assist Device Using Humanoid Robot},
      booktitle = {Proc. IEEE/SICE International Symposium on System Integration},
      year = {2014},
      pages = {761-766}
    }
    
    Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. Humanoid motion generation and swept volumes: theoretical bounds for safe steps Advanced Robotics
    Vol. 27(14), pp. 1045–1058 
    2013 article DOI [PDF
    Abstract: In the context of humanoid robot footstep planning based on a continuous
    action set, we conduct an analysis of the sensitivity of a walking
    pattern generator. Given a variation of an input vector, we calculate
    a bound on the variation of the volume swept by the robot lower body
    during the corresponding actions (steps). Since the input vector
    depends on real parameters, there is an infinite number of possible
    steps, but the calculated bound permits a sound and safe use of only
    a finite number of swept volumes to account for all the possible
    motions. After numerical evaluations, we discuss potential applications.
    BibTeX:
    @article{Perrin2013AR,
      author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
      title = {Humanoid motion generation and swept volumes: theoretical bounds for safe steps},
      journal = {Advanced Robotics},
      year = {2013},
      volume = {27},
      number = {14},
      pages = {1045–1058},
      doi = {http://doi.org/10.1080/01691864.2013.805468}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E., Nagata, K. & Kawai, Y. Towards Snap Sensing Int. J. Mechatronics and Automation
    Vol. 3(2), pp. 69-93 
    2013 article DOI [PDF
    Abstract: Automating snap assemblies is highly desirable but challenging due
    to their varied geometrical configurations and elastic components.
    A key aspect to automating snap assemblies is robot state estimation
    and corrective motion generation, here defined as snap sensing. While
    progress is being made, there are yet no robust systems that allow
    for snap sensing. To this end we have integrated a framework that
    consists of a control strategy and control framework that generalises
    to cantilever snaps of varying geometrical complexity. We have also
    integrated a robot state verification method (RCBHT) that encodes
    FT data to yield high-level intuitive behaviours and perform output
    verification. Optimisation procedures and Bayesian filtering have
    been included in the RCBHT to increase robustness and granularity.
    The system provides belief states for higher level behaviours allowing
    probabilistic state estimation and outcome verification. In this
    work, preliminary assembly failure characterisation has been conducted
    and provides insights into assembly failure dynamics. The results,
    though still in simulation, are promising as the framework has effectively
    executed cantilever snap assemblies and robust robot state estimation
    with parts of varying complexity in two different robotic systems.
    BibTeX:
    @article{Rojas2013IJMA,
      author = {Juan Rojas and Kensuke Harada and Horomu Onda and Natsuki Yamanobe and Eiichi Yoshida and Kazuyuki Nagata and Yoshihiro Kawai},
      title = {Towards Snap Sensing},
      journal = {Int. J. Mechatronics and Automation},
      year = {2013},
      volume = {3},
      number = {2},
      pages = {69-93},
      doi = {http://doi.org/10.1504/IJMA.2013.053409}
    }
    
    Lengagne, S., Vaillant, J., Yoshida, E. & Kheddar, A. Generation of Whole-body Optimal Dynamic Multi-contact Motions International Journal of Robotics Research
    Vol. 32(9-10), pp. 1104–1119 
    2013 article DOI [PDF
    BibTeX:
    @article{Lengagne13IJRR,
      author = {Sébastien Lengagne and Joris Vaillant and Eiichi Yoshida and Abderrahmane Kheddar},
      title = {Generation of Whole-body Optimal Dynamic Multi-contact Motions},
      journal = {International Journal of Robotics Research},
      year = {2013},
      volume = {32},
      number = {9-10},
      pages = {1104–1119},
      doi = {http://doi.org/10.1177/0278364913478990}
    }
    
    Suleiman, W., Yoshida, E., Kanehiro, F., Laumond, J.-P. & Monin, A. Optimization and Imitation Problems for Humanoid Robots Modeling, Simulation and Optimization of Bipedal Walking, pp. 233-247  2013 incollection DOI  
    BibTeX:
    @incollection{Suleiman2013Springer,
      author = {Wael Suleiman and Eiichi Yoshida and Fumio Kanehiro and Jean-Paul Laumond and André Monin},
      editor = {Katja Mombaur and Karsten Berns},
      title = {Optimization and Imitation Problems for Humanoid Robots},
      booktitle = {Modeling, Simulation and Optimization of Bipedal Walking},
      publisher = {Springer},
      year = {2013},
      pages = {233-247},
      doi = {http://doi.org/10.1007/978-3-642-36368-9_19}
    }
    
    Miura, K., Yoshida, E., Kobayashi, Y., Endo, Y., Kanehiro, F., Homma, K., Kajitani, I., Matsumoto, Y. & Tanaka, T. Humanoid Robot as an Evaluator of Assistive Devices Proc. 2013 IEEE Int Conf. Robotics and Automation, pp. 671-677  2013 inproceedings [PDF
    BibTeX:
    @inproceedings{Miura13ICRA,
      author = {Kanako Miura and Eiichi Yoshida and Yoshiyuki Kobayashi and Yui Endo and Fumio Kanehiro and Keiko Homma and Isamu Kajitani and Yoshio Matsumoto and Takayuki Tanaka},
      title = {Humanoid Robot as an Evaluator of Assistive Devices},
      booktitle = {Proc. 2013 IEEE Int Conf. Robotics and Automation},
      year = {2013},
      pages = {671-677}
    }
    
    Mittendorfer, P., Yoshida, E., Moulard, T. & Cheng, G. A General Tactile Approach for Grasping Unknown Objects with a Humanoid Robot Proc. 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4747-4752  2013 inproceedings [PDF
    Abstract: In this paper, we present a tactile approach to grasp large and unknown
    objects, which can not be easily manipulated with a single end-effector
    or two-handed grasps, with the whole upper body of a humanoid robot.
    Instead of conventional joint level force sensing, we equip the robot
    with various patches of HEX-o-SKIN – a self-organizing, multi-modal
    cellular artificial skin. Low-level controllers, one allocated to
    each sensor cell, utilize a self-explored inverted Jacobian-like
    sensory-motor map to directly transfer tactile stimulation into reactive
    arm motions, altering basic grasping trajectories to the need of
    the current object. A high-level state machine guides those low-level
    controllers during the different states of the grasping action. Desired
    contact points, and key poses for the trajectory generation, are
    taught through forceless tactile stimulation. First experiments on
    a position controlled robot, an HRP-2 humanoid, demonstrate the feasibility
    of our approach. Our paper contributes to the first realization of
    a self-organizing tactile sensor-behavior mapping on a full-sized
    humanoid robot, which enables: 1) a new general approach for grasping
    unknown objects with the whole-body; and 2) a novel way of teaching
    behaviors using pre-contact tactile sensing.
    BibTeX:
    @inproceedings{Mittendorfer2013IROS,
      author = {Philipp Mittendorfer and Eichii Yoshida and Thomas Moulard and Gordon Cheng},
      title = {A General Tactile Approach for Grasping Unknown Objects with a Humanoid Robot},
      booktitle = {Proc. 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2013},
      pages = {4747-4752}
    }
    
    Cisneros, R., Yokoi, K. & Yoshida, E. Impulsive pedipulation of a spherical object for reaching a 3D goal position Proc. 2013 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 154-160  2013 inproceedings [PDF
    Abstract: The aim of this paper is to develop an algorithm that enables a humanoid
    robot to perform an impulsive pedipulation of a spherical object
    by using its foot, so that the object reaches a desired 3D goal position,
    taking into account some constraints imposed at the moment of the
    impact. This is done by planning a suitable motion of the humanoid
    robot that exerts the required impact conditions on this object.
    Then, we take the free kick in soccer as a case of study that represents
    one possible application of this algorithm. Finally, we provide a
    simulation example that intends to show its validity.
    BibTeX:
    @inproceedings{Cisneros2013Humanoids,
      author = {Rafael Cisneros and Kazuhito Yokoi and Eiichi Yoshida},
      title = {Impulsive pedipulation of a spherical object for reaching a 3D goal position},
      booktitle = {Proc. 2013 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2013},
      pages = {154-160}
    }
    
    Jarquin, G., Escande, A., Arechavaleta, G., Moulard, T., Yoshida, E. & Parra-Vega, V. Real-Time Smooth Task Transitions for Hierarchical Inverse Kinematics Proc. 2013 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 528-533  2013 inproceedings [PDF
    Abstract: Hierarchical inverse kinematics (HIK) is widely used for generating
    feasible velocity trajectories that serve as input references for
    highly redundant robots such as humanoid robots. To generate the
    velocity trajectories a set of prioritized tasks should be provided.
    For some applications, it is not necessary to change the priority
    order of the tasks in the stack of tasks (SoT) along the motion execution.
    However, complex tasks need a dynamic behavior of the SoT such that
    the insertion, removal or swap can be performed at running time.
    These task transitions may induce discontinuities in the joint velocities
    if they are not carefully handled. In this context, we propose an
    efficient strategy to manage task transitions through a simple procedure
    which smoothly interchange the priority of a couple of consecutive
    prioritized tasks. Furthermore, our method does not increase the
    computational cost of the HIK since neither any additional task should
    be added, nor parallel control laws should be computed. As a result
    our strategy may be used in real time to produce the velocity commands
    of real humanoid robots. The effectiveness of our strategy is verified
    at simulation level with the HRP-2 humanoid robot performing complex
    time-driven tasks.
    BibTeX:
    @inproceedings{Jarquin2013Humanoids,
      author = {Gerardo Jarquin and Adrien Escande and Gustavo Arechavaleta and Thomas Moulard and Eiichi Yoshida and Vicente Parra-Vega},
      title = {Real-Time Smooth Task Transitions for Hierarchical Inverse Kinematics},
      booktitle = {Proc. 2013 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2013},
      pages = {528-533}
    }
    
    Kulić, D., Choudry, M., Venture, G., Miura, K. & Yoshida, E. Quantitative Human and Robot Motion Comparison for Enabling Assistive Device Evaluation Proc. 2013 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 196-202  2013 inproceedings [PDF
    Abstract: A promising new application area for humanoid robots is in the area
    of assistive device testing. Humanoid robots can facilitate the experimental
    evaluation of assistive devices by providing repeatable, measurable,
    human-like motion while removing the difficulties and potential safety
    hazards associated with human trials. To ensure that the humanoid
    robot is providing a valid test platform, the robot must move in
    a similar way as a human while wearing the assistive device. This
    challenge is made difficult due to the inherent variability in human
    motion. In this paper, we propose an approach for a quantitative
    comparison between human and robot motion that identifies both the
    difference magnitude and the difference location, and explicitly
    handles both spatial and temporal variability of human motion. The
    proposed approach is demonstrated on data from robot gait and sagittal
    plane lifting.
    BibTeX:
    @inproceedings{Kulic2013Humanoids,
      author = {Dana Kulić and Muhammad Choudry and Gentiane Venture and Kanako Miura and Eiichi Yoshida},
      title = {Quantitative Human and Robot Motion Comparison for Enabling Assistive Device Evaluation},
      booktitle = {Proc. 2013 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2013},
      pages = {196-202}
    }
    
    Moulard, T., Yoshida, E. & Nakaoka, S. Optimization-based Motion Retargeting Integrating Spatial and Dynamic Constraints for Humanoid Proc. 44th International Symposium on Robotics, pp. FA2-4  2013 inproceedings [PDF
    Abstract: In this paper, we present an optimization-based retargeting method
    for precise reproduction of captured human motions by a humanoid
    robot. We take into account two important aspects of retargeting
    simultaneously: spatial relationship and robot dynamics model. The
    former takes care of the spatial relationship between the body parts
    based on “interaction mesh” to follow the human motion in a natural
    manner, whereas the latter adapts the resulting motion in such a
    way that the dynamic constraints such as torque limit or dynamic
    balance are being satisfied. We have integrated the interaction mesh
    and the dynamic constraints in a unified optimization framework,
    which is advantageous for generation of natural motions by a humanoid
    robot compared to previous work that performs those processes separately.
    We have validated the basic effectiveness of the proposed method
    with a sequence of postures converted from captured human data to
    a humanoid robot.
    BibTeX:
    @inproceedings{Moulard2013ISR,
      author = {Thomas Moulard and Eiichi Yoshida and Shin'ichiro Nakaoka},
      title = {Optimization-based Motion Retargeting Integrating Spatial and Dynamic Constraints for Humanoid},
      booktitle = {Proc. 44th International Symposium on Robotics},
      year = {2013},
      pages = {FA2-4}
    }
    
    Takahashi, K., Tanaka, T., Nara, H., Kaneko, S. & Yoshida, E. A Model of Burden Sense from Psychophysical Factors in Lifting Action with and without Power Assist Device Proc. The Fifth International Conference on Advanced Cognitive Technologies and Applications, pp. 27-33  2013 inproceedings [PDF
    BibTeX:
    @inproceedings{Takahashi13Cognitive,
      author = {Kosuke Takahashi and Takayuki Tanaka and Hiroyuki Nara and Shun'ichi Kaneko and Eiichi Yoshida},
      title = {A Model of Burden Sense from Psychophysical Factors in Lifting Action with and without Power Assist Device},
      booktitle = {Proc. The Fifth International Conference on Advanced Cognitive Technologies and Applications},
      year = {2013},
      pages = {27-33}
    }
    
    Perrin, N., Stasse, O., Baudouin, L., Lamiraux, F. & Yoshida, E. Fast Humanoid Robot Collision-free Footstep Planning using Swept Volume Approximations IEEE Transaction on Robotics
    Vol. 28(2), pp. 427-439 
    2012 article DOI [PDF
    Abstract: In this paper, we propose a novel and coherent framework for fast
    footstep planning for legged robots on a flat ground with 3D obstacle
    avoidance. We use swept volume approximations computed offline in
    order to considerably reduce the time spent in collision checking
    during the online planning phase, in which an RRT variant is used
    to find collision-free sequences of half-steps (produced by a specific
    walking pattern generator). Then, an original homotopy is used to
    smooth the sequences into natural motions avoiding gently the obstacles.
    The results are experimentally validated on the robot HRP-2.
    BibTeX:
    @article{Perrin12TRO,
      author = {Nicolas Perrin and Olivier Stasse and Léo Baudouin and Florent Lamiraux and Eiichi Yoshida},
      title = {Fast Humanoid Robot Collision-free Footstep Planning using Swept Volume Approximations},
      journal = {IEEE Transaction on Robotics},
      year = {2012},
      volume = {28},
      number = {2},
      pages = {427-439},
      doi = {http://doi.org/10.1109/TRO.2011.2172152}
    }
    
    Hayet, J.-B., Esteves, C., Arechavaleta, G., Stasse, O. & Yoshida, E. Humanoid Locomotion Planning for Visually-Guided Tasks International Journal of Humanoid Robotics
    Vol. 9(2), pp. 1250009-1 - 26 
    2012 article DOI [PDF
    Abstract: In this work, we propose a landmark-based navigation approach that
    integrates 1) high-level motion planning capabilities that take into
    account the landmarks position and visibility and 2) a stack of feasible
    visual servoing tasks based on footprints to follow. The path planner
    computes a collision-free path that considers sensory, geometric,
    and kinematic constraints that are specific to humanoid robots. Based
    on recent results in Movement Neuroscience that suggest that most
    humans exhibit nonholonomic constraints when walking in open spaces,
    the humanoid steering behavior is modeled as a differential-drive
    wheeled robot. The obtained paths are made of geometric primitives
    that are the shortest in distance in free spaces. The footprints
    around the path and the positions of the landmarks to which the gaze
    must be directed are used within a stack-of-tasks (SoT) framework
    to compute the whole-body motion of the humanoid. We provide some
    experiments that verify the effectiveness of the proposed strategy
    on the HRP-2 platform.
    BibTeX:
    @article{Esteves12IJHR,
      author = {Jean-Bernard Hayet and Claudia Esteves and Gustavo Arechavaleta and Olivier Stasse and Eiichi Yoshida},
      title = {Humanoid Locomotion Planning for Visually-Guided Tasks},
      journal = {International Journal of Humanoid Robotics},
      year = {2012},
      volume = {9},
      number = {2},
      pages = {1250009-1 - 26},
      doi = {http://doi.org/10.1142/S0219843612500090}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E., Nagata, K. & Kawai, Y. A Constraint-Based Motion Control Strategy for Cantilever Snap Assemblies Proc. 2012 IEEE Int. Conf. on Mechatronics and Automation, pp. 1815-1821  2012 inproceedings  
    BibTeX:
    @inproceedings{Rojas2012ICMA,
      author = {Juan Rojas and Kensuke Harada and Hiromu Onda and Natsuki Yamanobe and Eiichi Yoshida and Kazuyuki Nagata and Yoshihiro Kawai},
      title = {A Constraint-Based Motion Control Strategy for Cantilever Snap Assemblies},
      booktitle = {Proc. 2012 IEEE Int. Conf. on Mechatronics and Automation},
      year = {2012},
      pages = {1815-1821}
    }
    
    Cisneros, R.L., Yoshida, E. & Yokoi, K. Ball Dynamics Simulation on OpenHRP3 Proc. 2012 IEEE Int. Conf. on Robotics and Biomimetics, pp. 871-877  2012 inproceedings  
    BibTeX:
    @inproceedings{Cisneros2012Robio,
      author = {Rafael Limon Cisneros and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Ball Dynamics Simulation on OpenHRP3},
      booktitle = {Proc. 2012 IEEE Int. Conf. on Robotics and Biomimetics},
      year = {2012},
      pages = {871-877}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E., Nagata, K. & Kawai, Y. Gradient Calibration for the RCBHT Snap Verification System Proc. 2012 IEEE Int. Conf. on Robotics and Biomimetics, pp. 984-990  2012 inproceedings  
    BibTeX:
    @inproceedings{Rojas2012Robio,
      author = {Juan Rojas and Kensuke Harada and Hiromu Onda and Natsuki Yamanobe and Eiichi Yoshida and Kazuyuki Nagata and Yoshihiro Kawai},
      title = {Gradient Calibration for the RCBHT Snap Verification System},
      booktitle = {Proc. 2012 IEEE Int. Conf. on Robotics and Biomimetics},
      year = {2012},
      pages = {984-990}
    }
    
    Kanehiro, F., Yoshida, E. & Yokoi, K. Efficient Reaching Motion Planning and Execution for Exploration by Humanoid Robots Proc. 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1911-1916  2012 inproceedings [PDF
    BibTeX:
    @inproceedings{Kanehiro12IROS,
      author = {Fumio Kanehiro and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Efficient Reaching Motion Planning and Execution for Exploration by Humanoid Robots},
      booktitle = {Proc. 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2012},
      pages = {1911-1916}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E., Nagata, K. & Kawai, Y. A Relative-Change-Based Hierarchical Taxonomy for Cantilever-Snap Assembly Verification Proc. 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 356-363  2012 inproceedings  
    BibTeX:
    @inproceedings{RojasIROS2012,
      author = {Juan Rojas and Kensuke Harada and Hiromu Onda and Natsuki Yamanobe and and Eiichi Yoshida and Kazuyuki Nagata and Yoshiro Kawai},
      title = {A Relative-Change-Based Hierarchical Taxonomy for Cantilever-Snap Assembly Verification},
      booktitle = {Proc. 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2012},
      pages = {356-363}
    }
    
    Iwasaki, T., Venture, G. & Yoshida, E. Identification of the Inertial Parameters of a Humanoid Robot Using Grounded Sole Link Proc. 2012 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 449-454  2012 inproceedings [PDF
    BibTeX:
    @inproceedings{Iwasaki12Humanoids,
      author = {Toru Iwasaki and Gentiane Venture and Eiichi Yoshida},
      title = {Identification of the Inertial Parameters of a Humanoid Robot Using Grounded Sole Link},
      booktitle = {Proc. 2012 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2012},
      pages = {449-454}
    }
    
    Rojas, J., Harada, K., Onda, H., Yamanobe, N., Yoshida, E., Nagata, K. & Kawai, Y. Probabilistic State Verification for Snap Assemblies using the Relative-Change-Based Hierarchical Taxonomy Proc. 2012 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 96-103  2012 inproceedings  
    BibTeX:
    @inproceedings{Rojas2012Humanoids,
      author = {Juan Rojas and Kensuke Harada and Hiromu Onda and Natsuki Yamanobe and and Eiichi Yoshida and Kazuyuki Nagata and Yoshiro Kawai},
      title = {Probabilistic State Verification for Snap Assemblies using the Relative-Change-Based Hierarchical Taxonomy},
      booktitle = {Proc. 2012 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2012},
      pages = {96-103}
    }
    
    Suleiman, W., Miura, K., Kanehiro, F. & Yoshida, E. Enhancing Zero Moment Point-Based Control Model: System Identification Approach Advanced Robotics
    Vol. 26(3), pp. 427-446 
    2011 article DOI [PDF
    BibTeX:
    @article{Suleiman11AR,
      author = {Wael Suleiman and Kanako Miura and Fumio Kanehiro and Eiichi Yoshida},
      title = {Enhancing Zero Moment Point-Based Control Model: System Identification Approach},
      journal = {Advanced Robotics},
      year = {2011},
      volume = {26},
      number = {3},
      pages = {427-446},
      doi = {http://doi.org/10.1163/016918610X551773}
    }
    
    Kanoun, O., Laumond, J.-P. & Yoshida, E. Planning Foot Placements for a Humanoid Robot: a Problem of Inverse Kinematics International Journal of Robotics Research
    Vol. 30(4), pp. 476-485 
    2011 article DOI [PDF
    BibTeX:
    @article{Kanoun11IJRR,
      author = {Oussama Kanoun and Jean-Paul Laumond and Eiichi Yoshida},
      title = {Planning Foot Placements for a Humanoid Robot: a Problem of Inverse Kinematics},
      journal = {International Journal of Robotics Research},
      year = {2011},
      volume = {30},
      number = {4},
      pages = {476-485},
      doi = {http://doi.org/10.1177/0278364910368147}
    }
    
    Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction Proc. 2011 IEEE Int Conf. Robotics and Automation, pp. 1270-1275  2011 inproceedings [PDF
    Abstract: We present a new biped walking pattern generator based on “half-steps”.
    Its key features are a) a 3-dimensional parametrization of the input
    space, and b) a simple homotopy that efficiently smooths the walking
    trajectory corresponding to a fixed sequence of steps. We show how
    these features can be ideally combined in the framework of sampling-based
    footstep planning. We apply our approach to the robot HRP-2 and are
    able to quickly produce smooth and dynamically stable trajectories
    that are solutions to a difficult problem of footstep planning.
    BibTeX:
    @inproceedings{Perrin11ICRA,
      author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
      title = {A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction},
      booktitle = {Proc. 2011 IEEE Int Conf. Robotics and Automation},
      year = {2011},
      pages = {1270-1275}
    }
    
    Yoshida, E. & Kanehiro, F. Reactive Robot Motion using Path Replanning and Deformation Proc. 2011 IEEE Int. Conf. on Robotics and Automation, pp. 5457-5462  2011 inproceedings [PDF
    Abstract: We present a reactive method for online robot motion replanning in
    dynamically changing environments by combining path replanning and
    deformation. Path deformation is newly integrated in our replanning
    method featured by efficient roadmap reuse and parallel planning
    and execution. This enhancement allows the planner to deal with more
    dynamic environments including continuously moving obstacles, by
    smoothly deforming the path during execution. Simulation results
    are shown to validate the effectiveness of the proposed method.
    BibTeX:
    @inproceedings{Yoshida11ICRA,
      author = {Eiichi Yoshida and Fumio Kanehiro},
      title = {Reactive Robot Motion using Path Replanning and Deformation},
      booktitle = {Proc. 2011 IEEE Int. Conf. on Robotics and Automation},
      year = {2011},
      pages = {5457-5462}
    }
    
    Lengagne, S., Kheddar, A., Druon, S. & Yoshida, E. Emulating Human Leg Impairments and Disabilities on Humanoid Robots Walking Proc. 2011 IEEE Int. Conf. on Robotics and Biomimetics, pp. 2372-2377  2011 inproceedings [PDF
    Abstract: In this paper, we present a method for emulating human walking motions
    with leg impairments or disabilities using humanoid robots. Our optimal
    dynamic multi-contact motion software generates the emulated motions.
    We take into account the full-body dynamic model of the robot and
    consider possible leg impairments as additional physical constraints
    in the optimization problem. The proposed approach is verified using
    HRP-2 humanoid robot. Simulations and experiments revealed extra
    energy consumption when constraints translating impairments are added,
    which is assessed using an infrared camera. Our research is the first
    step toward potential usage of humanoid robots in human-centric studies,
    diagnosis of human disabled motions, as well as an active mannequin
    for welfare instrument evaluation.
    BibTeX:
    @inproceedings{Lengagne11Robio,
      author = {Sébastien Lengagne and Abderrahmane Kheddar and Sébastien Druon and Eiichi Yoshida},
      title = {Emulating Human Leg Impairments and Disabilities on Humanoid Robots Walking},
      booktitle = {Proc. 2011 IEEE Int. Conf. on Robotics and Biomimetics},
      year = {2011},
      pages = {2372-2377}
    }
    
    Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. Weakly Collision-free Paths for Continuous Humanoid Footstep Planning Proc. 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4408-4413  2011 inproceedings [PDF
    Abstract: In this paper we demonstrate an original equivalence between footstep
    planning problems, where discrete sequences of steps are searched
    for, and the more classical problem of motion planning for a 2D rigid
    shape, where a continuous collision-free path has to be found. This
    equivalence enables a lot of classical motion planning techniques
    (such as PRM, RRT, etc.) to be applied almost effortlessly to the
    specific problem of footstep planning for a humanoid robot.
    BibTeX:
    @inproceedings{Perrin11IROS,
      author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
      title = {Weakly Collision-free Paths for Continuous Humanoid Footstep Planning},
      booktitle = {Proc. 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2011},
      pages = {4408-4413}
    }
    
    Baudouin, L., Perrin, N., Stasse, O., Moulard, T., Lamiraux, F. & Yoshida, E. Real-time Replanning Using 3D Environment for Humanoid Robot Proc. 2011 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 584-589  2011 inproceedings [PDF
    Abstract: In this paper, we illustrate experimentally an original real-time
    replanning scheme and architecture for humanoid robot reactive walking.
    Based on a dense set of actions, our approach uses a large panel
    of the humanoid robot capabilities and is particularly well suited
    for 3D collision avoidance. Indeed A-* approaches becomes difficult
    in such situation, thus the method demonstrated here relies on RRT.
    Combined with an approximation of the volume swept by the robot legs
    while walking, our method is able to cope with 3D obstacles while
    maintaining real-time computation. We experimentally validate our
    approach on the robot HRP-2.
    BibTeX:
    @inproceedings{Baudouin11Humanoids,
      author = {Léo Baudouin and Nicolas Perrin and Olivier Stasse and Thomas Moulard and Florent Lamiraux and Eiichi Yoshida},
      title = {Real-time Replanning Using 3D Environment for Humanoid Robot},
      booktitle = {Proc. 2011 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2011},
      pages = {584-589}
    }
    
    Mombaur, K., Laumond, J.-P. & Yoshida, E. An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots Advanced Robotics
    Vol. 24(4), pp. 515-535 
    2010 article DOI [PDF
    BibTeX:
    @article{Mombaur10AR,
      author = {Katja Mombaur and Jean-Paul Laumond and Eiichi Yoshida},
      title = {An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots},
      journal = {Advanced Robotics},
      year = {2010},
      volume = {24},
      number = {4},
      pages = {515--535},
      doi = {http://doi.org/10.1163/016918610X487090}
    }
    
    Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R. & Yokoi, K. Pivoting based manipulation by a humanoid robot Autonomous Robots
    Vol. 28(1), pp. 77-88 
    2010 article DOI URL [PDF
    Abstract: In this paper we address whole-body manipulation of bulky objects
    by a humanoid robot. We adopt a pivoting manipulation method that
    allows the humanoid to displace an object without lifting, but by
    the support of the ground contact. First, the small-time controllability
    of pivoting is demonstrated. On its basis, an algorithm for collision-free
    pivoting motion planning is established taking into account the naturalness
    of motion as nonholonomic constraints. Finally, we present a whole-body
    motion generation method by a humanoid robot, which is verified by
    experiments.
    BibTeX:
    @article{Yoshida10Auro,
      author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi},
      title = {Pivoting based manipulation by a humanoid robot},
      journal = {Autonomous Robots},
      publisher = {Springer Netherlands},
      year = {2010},
      volume = {28},
      number = {1},
      pages = {77--88},
      url = {http://www.springerlink.com/content/ d47r262762502912/},
      doi = {http://doi.org/10.1007/s10514-009-9143-x}
    }
    
    Suleiman, W., Kanehiro, F., Yoshida, E., Laumond, J.-P. & Monin, A. Time Parameterization of Humanoid-Robot Paths IEEE Trans. on Robotics
    Vol. 26(3), pp. 458-468 
    2010 article DOI [PDF
    BibTeX:
    @article{Suleiman10TRO,
      author = {Wael Suleiman and Fumio Kanehiro and Eiichi Yoshida and Jean-Paul Laumond and André Monin},
      title = {Time Parameterization of Humanoid-Robot Paths},
      journal = {IEEE Trans. on Robotics},
      year = {2010},
      volume = {26},
      number = {3},
      pages = {458--468},
      doi = {http://doi.org/10.1109/TRO.2010.2047531}
    }
    
    Harada, K., Hattori, S., Kurokawa, H., Morisawa, M., Kajita, S. & Yoshida, E. Two-Stage Time-Parametrized Gait Planning for Humanoid Robots IEEE/ASME Trans. on Mechatronics
    Vol. 15(5), pp. 694-703 
    2010 article  
    BibTeX:
    @article{Harada10TME,
      author = {Kensuke Harada and Shizuko Hattori and Haruhisa Kurokawa and Mitsuharu Morisawa and Shuuji Kajita and Eiichi Yoshida},
      title = {Two-Stage Time-Parametrized Gait Planning for Humanoid Robots},
      journal = {IEEE/ASME Trans. on Mechatronics},
      year = {2010},
      volume = {15},
      number = {5},
      pages = {694--703}
    }
    
    Harada, K., Yoshida, E. & Yokoi, K. Motion Planning for Humanoid Robots   2010 book URL  
    BibTeX:
    @book{Harada10SpringerBook,
      author = {Kensuke Harada and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Motion Planning for Humanoid Robots},
      publisher = {Springer},
      year = {2010},
      url = {http://www.springer.com/engineering/robotics/book/978-1-84996-219-3}
    }
    
    Lallee, S., Yoshida, E., Mallet, A., Nori, F., Natale, L., Metta, G., Warneken, F. & Dominey, P.F. Human-Robot Cooperation Based on Interaction Learning
    Vol. 264From Motor Learning to Interaction Learning in Robots, pp. 491-536 
    2010 incollection DOI URL  
    Abstract: Robots are now physically capable of locomotion, object manipulation,
    and an essentially unlimited set of sensory motor behaviors. This
    sets the scene for the corresponding technical challenge: how can
    non-specialist human users interact with these robots for human robot
    cooperation? Crangle and Suppes stated in [1] : the user should not
    have to become a programmer, or rely on a programmer, to alter the
    robots behavior, and the user should not have to learn specialized
    technical vocabulary to request action from a robot. To achieve this
    goal, one option is to consider the robot as a human apprentice and
    to have it learn through its interaction with a human. This chapter
    reviews our approach to this problem.
    BibTeX:
    @incollection{Lallee2010,
      author = {Stéphane Lallee and Eiichi Yoshida and Anthony Mallet and Francesco Nori and Lorenzo Natale and Giorgio Metta and Felix Warneken and Peter F. Dominey},
      title = {Human-Robot Cooperation Based on Interaction Learning},
      booktitle = {From Motor Learning to Interaction Learning in Robots},
      publisher = {Springer Berlin / Heidelberg},
      year = {2010},
      volume = {264},
      pages = {491--536},
      url = {http://springerlink.com/content/8223p21v45827470/},
      doi = {http://doi.org/10.1007/978-3-642-05181-4_21}
    }
    
    Yoshida, E., Esteves, C., Kanoun, O., Poirier, M., Mallet, A., Laumond, J.-P. & Yokoi, K. Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation Motion Planning for Humanoid Robots, pp. 99-128  2010 incollection DOI [PDF
    BibTeX:
    @incollection{Yoshida10STAR,
      author = {Eiichi Yoshida and Claudia Esteves and Oussama Kanoun and Mathieu Poirier and Anthony Mallet and Jean-Paul Laumond and Kazuhito Yokoi},
      editor = {Kensuke Harada and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Planning Whole-body Humanoid Locomotion, Reaching, and Manipulation},
      booktitle = {Motion Planning for Humanoid Robots},
      publisher = {Springer},
      year = {2010},
      pages = {99-128},
      doi = {http://doi.org/10.1007/978-1-84996-220-9_4}
    }
    
    Perrin, N., Stasse, O., Lamiraux, F. & Yoshida, E. Approximation of Feasibility Tests for Reactive Walk on HRP-2 Proc. 2010 IEEE Int Conf. Robotics and Automation, pp. 4243-4248  2010 inproceedings  
    BibTeX:
    @inproceedings{Perrin10ICRA,
      author = {Nicolas Perrin and Olivier Stasse and Florent Lamiraux and Eiichi Yoshida},
      title = {Approximation of Feasibility Tests for Reactive Walk on HRP-2},
      booktitle = {Proc. 2010 IEEE Int Conf. Robotics and Automation},
      year = {2010},
      pages = {4243--4248}
    }
    
    Dune, C., Herdt, A., Stasse, O., Wieber, P.-B., Yokoi, K. & Yoshida, E. Cancelling the sway motion of dynamic walking in visual servoing Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3175-3180  2010 inproceedings  
    BibTeX:
    @inproceedings{Dune10IROS,
      author = {Claire Dune and Andrei Herdt and Olivier Stasse and Pierre-Brice Wieber and Kazuhito Yokoi and Eiichi Yoshida},
      title = {Cancelling the sway motion of dynamic walking in visual servoing},
      booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2010},
      pages = {3175--3180}
    }
    
    Kanehiro, F., Morisawa, M., Suleiman, W., Kaneko, K. & Yoshida, E. Integrating Geometric Constraints into Reactive Leg Motion Generation Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4069-4076  2010 inproceedings  
    BibTeX:
    @inproceedings{Kanehiro10IROS,
      author = {Fumio Kanehiro and Mitsuharu Morisawa and Wael Suleiman and Kenji Kaneko and Eiichi Yoshida},
      title = {Integrating Geometric Constraints into Reactive Leg Motion Generation},
      booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2010},
      pages = {4069-4076}
    }
    
    Lengagne, S., Mathieu, P., Kheddar, A. & Yoshida, E. Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using B-Splines and Taylor polynomials Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 698-703  2010 inproceedings  
    BibTeX:
    @inproceedings{Lengagne10IROS,
      author = {Sebastien Lengagne and Paul Mathieu and Abderrahmane Kheddar and Eiichi Yoshida},
      title = {Generation of Dynamic Motions Under Continuous Constraints: Efficient Computation Using B-Splines and Taylor polynomials},
      booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2010},
      pages = {698--703}
    }
    
    Morisawa, M., Kanehiro, F., Kaneko, K., Mansard, N., Sola, J., Yoshida, E., Yokoi, K. & Laumond, J.-P. Combining Suppression of the Disturbance and Reactive Stepping for Recovering Balance Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3150-3156  2010 inproceedings  
    BibTeX:
    @inproceedings{Morisawa2010IROS,
      author = {Mitsuharu Morisawa and Fumio Kanehiro and Kenji Kaneko and Nicolas Mansard and Joan Sola and Eiichi Yoshida and Kazuhito Yokoi and Jean-Paul Laumond},
      title = {Combining Suppression of the Disturbance and Reactive Stepping for Recovering Balance},
      booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2010},
      pages = {3150--3156}
    }
    
    Yoshida, E., Yokoi, K. & Gergondet, P. Online Replanning for Reactive Robot Motion: Practical Aspects Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5927-5933  2010 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida10IROS,
      author = {Eiichi Yoshida and Kazuhito Yokoi and Pierre Gergondet},
      title = {Online Replanning for Reactive Robot Motion: Practical Aspects},
      booktitle = {Proc. 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2010},
      pages = {5927--5933}
    }
    
    Arbulu, M., Kheddar, A. & Yoshida, E. An approach of generic solution for Humanoid stepping over motion Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 474-479  2010 inproceedings  
    Abstract: This paper deals with a novel solution for humanoid robots stepping
    over motion. It covers kinematics and dynamics problem, on the development
    of dynamically stable stepping over motion around an obstacle of
    any dimensions and configuration, between two generic footprints.
    The approach is solved taking into account the geometric constraints,
    by the use of oriented bounding boxes (OBB), the ZMP based and contact
    wrench dynamical constraints. This approach is validated successfully,
    by simulation and actual tests on the HRP-2 humanoid robot platform.
    BibTeX:
    @inproceedings{Arbulu10Humanoids,
      author = {Mario Arbulu and Abderrahmane Kheddar and and Eiichi Yoshida},
      title = {An approach of generic solution for Humanoid stepping over motion},
      booktitle = {Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2010},
      pages = {474--479}
    }
    
    Lengagne, S., Mathieu, P., Kheddar, A. & Yoshida, E. Generation of Dynamic Multi-Contact Motions: 2D case studies Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 14-20  2010 inproceedings  
    BibTeX:
    @inproceedings{Lengagne10Humanoids,
      author = {Sebastien Lengagne and Paul Mathieu and Abderrahmane Kheddar and Eiichi Yoshida},
      title = {Generation of Dynamic Multi-Contact Motions: 2D case studies},
      booktitle = {Proc. 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
      year = {2010},
      pages = {14--20}
    }
    
    Suleiman, W., Kanehiro, F., Miura, K. & Yoshida, E. Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model Proc. of 2010 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics  2010 inproceedings  
    Abstract: The approximation of humanoid robot by an inverted pendulum is one
    of the most used model to generate a stable walking motion using
    a planned Zero Moment Point (ZMP) trajectory. Many studies have been
    carried out to improve the reliability of this model. One of the
    proposed models is the quadratic system model, which has been validated
    by conducting real experiments on the humanoid robot. In this paper,
    we propose several controlling algorithms for the quadratic system.
    Some of these algorithms are devoted for on-line walking pattern
    generation and the others for off-line walking pattern generation
    for the humanoid robot. In order to validate these algorithms dynamically
    stable walking patterns have been generated. The stability and feasibility
    of walking patterns have been confirmed using dynamical simulation
    and conducting real experiments on the humanoid robot HRP-4C.
    BibTeX:
    @inproceedings{Suleiman10AIM,
      author = {Wael Suleiman and Fumio Kanehiro and Kanako Miura and Eiichi Yoshida},
      title = {Generating Dynamically Stable Walking Patterns for Humanoid Robots Using Quadratic System Model},
      booktitle = {Proc. of 2010 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics},
      year = {2010}
    }
    
    Yoshida, E., Laumond, J.-P., Esteves, C., Kanoun, O., Mallet, A., Sakaguchi, T. & Yokoi, K. Motion Autonomy for Humanoids: Experiments on HRP-2 No. 14 Computer Animation and Virtual Worlds
    Vol. 20(5-6), pp. 511-522 
    2009 article DOI URL [PDF
    BibTeX:
    @article{Yoshida09CAVW,
      author = {Eiichi Yoshida and Jean-Paul Laumond and Claudia Esteves and Oussama Kanoun and Anthony Mallet and Takeshi Sakaguchi and Kazuhito Yokoi},
      title = {Motion Autonomy for Humanoids: Experiments on HRP-2 No. 14},
      journal = {Computer Animation and Virtual Worlds},
      year = {2009},
      volume = {20},
      number = {5-6},
      pages = {511-522},
      url = {http://www3.interscience.wiley.com/cgi-bin/fulltext/122201925/PDFSTART},
      doi = {http://doi.org/10.1002/cav.280}
    }
    
    Dominey, P.F., Mallet, A. & Yoshida, E. Real-Time Spoken-Language Programming for Cooperative Interaction with a Humanoid Apprentice International Journal of Humanod Robotics
    Vol. 6(2), pp. 147-171 
    2009 article  
    Abstract: through this interaction, acquire knowledge and skill in the given
    task domain. A humanoid apprentice should have a useful repertoire
    of sensory-motor acts that the human can command with spoken language,
    along with a real-time behavioral sequence acquisition ability. The
    learned sequences should function as executable procedures that can
    operate in a flexible manner that are not rigidly sensitive to initial
    conditions. Our study integrates these capabilities in a real-time
    system on the HRP-2 humanoid, for learning a cooperative assembly
    task. We previously defined a system for Spoken Language Programming
    (SLP) that allowed the user to guide the robot through an arbitrary,
    task relevant, motor sequence via spoken commands, and to store this
    sequence as re-usable macro. Here we significantly extend the SLP
    system: It integrates vision and motion planning into the SLP framework,
    providing a new level of flexibility in the actions that can be created,
    and it allows the user to create "generic" functions with arguments
    (e.g. Give me X), and it allows multiple functions to be created
    BibTeX:
    @article{Dominey09IJHR,
      author = {Peter Ford Dominey and Anthony Mallet and Eiichi Yoshida},
      title = {Real-Time Spoken-Language Programming for Cooperative Interaction with a Humanoid Apprentice},
      journal = {International Journal of Humanod Robotics},
      year = {2009},
      volume = {6},
      number = {2},
      pages = {147-171}
    }
    
    Sanada, H., Yoshida, E. & Yokoi, K. Passing under Obstacles with Humanoid Robots Springer Tracts in Advanced Robotics: Experimental Robotics: The Eleventh International Symposium, pp. 283-291  2009 incollection DOI URL  
    BibTeX:
    @incollection{Sanada09STAR,
      author = {Hiroki Sanada and and Eiichi Yoshida and Kazuhito Yokoi},
      editor = {Oussama Khatib and Vijay Kumar and George Pappas},
      title = {Passing under Obstacles with Humanoid Robots},
      booktitle = {Springer Tracts in Advanced Robotics: Experimental Robotics: The Eleventh International Symposium},
      publisher = {Springer-Verlag},
      year = {2009},
      pages = {283-291},
      url = {http://springerlink.com/content/126g5016168645q3/},
      doi = {http://doi.org/10.1007/978-3-642-00196-3_34}
    }
    
    Weiss, A., Bernhaupt, R., Tscheligi, M. & Yoshida, E. Addressing User Experience and Societal Impact in a User Study with a Humanoid Robot AISB2009: Proceedings of the Symposium on New Frontiers in Human-Robot Interaction, pp. 150-157  2009 inproceedings  
    Abstract: Using a preliminary exploratory case study the presented work investigates
    the feasibility of methods for the evaluation of user experience
    factors in human-humanoid interaction as well as measurements of
    societal impact in user studies. The case study is based on two tasks
    participants had to perform with the HRP-2 robot. The robot was controlled
    by the participants via speech commands to pick up (task1) and put
    down (task2) an object onto another place. Main goal of the case
    study was to explore the methodological concept on how to measure
    novice users? experiences during the collaboration with the humanoid
    robot HRP-2 via speech commands and if the general attitude towards
    robotics changes because of the interaction with the robot. To address
    users? experiences during the user study, participants were asked
    after each task to state their thoughts and feelings they had during
    the interaction (retrospective think aloud). Furthermore, participants
    were interviewed by means of two validated standardized questionnaires
    (NARS and AttrakDiff) and an especially developed questionnaire.
    The preliminary results show that retrospective think aloud is a
    good way to gather qualitative data on users? experiences. Furthermore
    a final interview on societal impact of humanoid robots gave insights
    into how novice users imagine a future society with robots.
    BibTeX:
    @inproceedings{Weiss09AISB,
      author = {Astrid Weiss and Regina Bernhaupt and Manfred Tscheligi and Eiichi Yoshida},
      title = {Addressing User Experience and Societal Impact in a User Study with a Humanoid Robot},
      booktitle = {AISB2009: Proceedings of the Symposium on New Frontiers in Human-Robot Interaction},
      year = {2009},
      pages = {150-157}
    }
    
    Yokoi, K., Yoshida, E. & Sanada, H. Unified Motion Planning of Passing under Obstacles with Humanoid Robots Proc. 2009 IEEE Int Conf. Robotics and Automation, pp. 1185-1190  2009 inproceedings  
    Abstract: A motion planning method for humanoid robots to pass under obstacles
    is proposed. The proposed motion planner can calculate a goal configuration
    and connect it with an initial configuration in a collision-free
    dynamically stable motion. The method can generate not only a body
    motion but also the footstep sequence. The effectiveness of the proposed
    method was validated by experiments with the humanoid robot HRP-2.
    BibTeX:
    @inproceedings{Yokoi09ICRA,
      author = {Kazuhito Yokoi and Eiichi Yoshida and Hiroki Sanada},
      title = {Unified Motion Planning of Passing under Obstacles with Humanoid Robots},
      booktitle = {Proc. 2009 IEEE Int Conf. Robotics and Automation},
      year = {2009},
      pages = {1185-1190}
    }
    
    Kanoun, O., Lamiraux, F., Wieber, P.-B., Kanehiro, F., Yoshida, E. & Laumond, J.-P. Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots Proc. 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2939-2944  2009 inproceedings  
    BibTeX:
    @inproceedings{Kanoun09ICRA,
      author = {Oussama Kanoun and Florent Lamiraux and Pierre-Brice Wieber and Fumio Kanehiro and Eiichi Yoshida and Jean-Paul Laumond},
      title = {Prioritizing linear equality and inequality systems: application to local motion planning for redundant robots},
      booktitle = {Proc. 2009 IEEE Int. Conf. on Robotics and Automation},
      year = {2009},
      pages = {2939-2944}
    }
    
    Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R. & Yokoi, K. Regrasp Planning for Pivoting Manipulation by a Humanoid Robot Proc. 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2467-2472  2009 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida09ICRA,
      author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi},
      title = {Regrasp Planning for Pivoting Manipulation by a Humanoid Robot},
      booktitle = {Proc. 2009 IEEE Int. Conf. on Robotics and Automation},
      year = {2009},
      pages = {2467--2472}
    }
    
    Hayet, J.-B., Esteves, C., Arechavaleta, G. & Yoshida, E. Motion Planning for a Vigilant Humanoid Robot Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 196-201  2009 inproceedings  
    Abstract: This paper presents a motion planner for a vigilant humanoid robot.
    In this context of surveillance, the robot task is to keep a distinctive
    point in the environment in sight during all of its motion. The method
    we propose consists of three main ingredients: (1) A motion planner
    for an appropriate simplified model of the walking robot, adapted
    to the particular needs of humanoid robots, that outputs an admissible
    path with local optimality properties. This path is guaranteed to
    satisfy the visibility constraints resulting both from the landmark
    and from the angular limits of the mechanical system; (2) A generic
    walking pattern generator that produces stable walking motions; (3)
    A generalized inverse-kinematics module to satisfy the remaining
    collisions and posture constraints, in particular the gaze direction.
    The effectiveness of this method is shown with several examples on
    the humanoid robot platform HRP-2.
    BibTeX:
    @inproceedings{Hayet09Humanoids,
      author = {Jean-Bernard Hayet and Claudia Esteves and Gustavo Arechavaleta and Eiichi Yoshida},
      title = {Motion Planning for a Vigilant Humanoid Robot},
      booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
      year = {2009},
      pages = {196-201}
    }
    
    Kanehiro, F., Suleiman, W., Miura, K., Morisawa, M. & Yoshida, E. Feasible Pattern Generation Method for Humanoid Robots Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 542-548  2009 inproceedings  
    Abstract: This paper proposes a feasible pattern generation method for humanoid
    robots. One of the difficulties in pattern generation for humanoid
    robots is that generated patterns must satisfy many constraints such
    as physical limits, self-collision and so on to be feasible in addition
    to constraints to achieve a specified task. In reality, some of these
    constraints are not often taken into account during the pattern generation
    and they are just checked afterwards and unsatisfied constraints
    are fixed by hand. It is not easy to find a parameter set to get
    a feasible motion for humanoid robot and these pattern generators
    need to be used carefully when they are used online. The proposed
    method integrates the feasibility constraints into the pattern generation
    algorithm and enables to use it online more safely and releases human
    from parameter tuning. Moreover, a stiffness varying constraint is
    introduced to improve the feasibility.
    Note: Best Paper Award Finalist
    BibTeX:
    @inproceedings{Kanehiro09Humanoids,
      author = {Fumio Kanehiro and Wael Suleiman and Kanako Miura and Mitsuharu Morisawa and Eiichi Yoshida},
      title = {Feasible Pattern Generation Method for Humanoid Robots},
      booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
      year = {2009},
      pages = {542-548},
      note = {Best Paper Award Finalist}
    }
    
    Kanoun, O., Yoshida, E. & Laumond, J.-P. An optimization formulation for footsteps planning Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 202-207  2009 inproceedings  
    Note: Best Paper Award Finalist
    BibTeX:
    @inproceedings{Kanoun09Humanoids,
      author = {Oussama Kanoun and Eiichi Yoshida and Jean-Paul Laumond},
      title = {An optimization formulation for footsteps planning},
      booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
      year = {2009},
      pages = {202-207},
      note = {Best Paper Award Finalist}
    }
    
    Morisawa, M., Harada, K., Kajita, S., Kaneko, K., Sola, J., Yoshida, E., Mansard, N., Laumond, J.-P. & Yokoi, K. Reactive Stepping to Prevent Falling for Humanoids Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 528-534  2009 inproceedings  
    Abstract: This paper proposes a reactive motion controller for a humanoid robot
    to maintain balance against a large disturbance, by relatively stepping.
    A reactive step is performed by the robot, so that it reduces the
    disturbance force. Severalproblems are addressed: first the motion
    is designed to ensure the respect of stepping constraints such as
    a dynamical stability, motion feasibility of the swing leg and so
    on. Moreover the stepping has to be generated in real-time and to
    be updated as quick as possible after the disturbance. To overcome
    these problems, we extend simultaneous the center of gravity (COG)
    and the zero-moment point (ZMP) planning based on a generic analytical
    solution of the linear inverted pendulum. The ZMP fluctuation and
    the modification of foot placement are determined by numerical optimization
    according to the position and velocity error of the COG due to the
    disturbance. All these computations are performed at low cost. The
    proposed method is validated through several simulations.
    BibTeX:
    @inproceedings{Morisawa09Humanoids,
      author = {Mitsuharu Morisawa and Kensuke Harada and Shuuji Kajita and Kenji Kaneko and Joan Sola and Eiichi Yoshida and Nicolas Mansard and Jean-Paul Laumond and Kazuhito Yokoi},
      title = {Reactive Stepping to Prevent Falling for Humanoids},
      booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
      year = {2009},
      pages = {528-534}
    }
    
    Suleiman, W., Kanehiro, F., Miura, K. & Yoshida, E. Improving ZMP-based Control Model Using System Identification Techniques Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots, pp. 74-80  2009 inproceedings  
    Abstract: The approximation of humanoid robot by an inverted pendulum is one
    of the most used model to generate a stable motion using a planned
    Zero Moment Point (ZMP) trajectory. In this paper, we aim at proposing
    to improve the reliability of this model using system identification
    techniques. To achieve this goal, we propose an identification method
    which is the result of the comprehensive application of system identification
    to dynamic systems. Moreover, we propose a controlling algorithm
    for the identified model in oder to track a desired trajectory of
    ZMP. The efficiency of the method is shown using dynamical simulation
    and conducting real experiments on the humanoid robot HRP-4C.
    BibTeX:
    @inproceedings{Suleiman09Humanoids,
      author = {Wael Suleiman and Fumio Kanehiro and Kanako Miura and Eiichi Yoshida},
      title = {Improving ZMP-based Control Model Using System Identification Techniques},
      booktitle = {Proceedings of 9th IEEE-RAS International Conference on Humanoid Robots},
      year = {2009},
      pages = {74-80}
    }
    
    Yoshida, E., Esteves, C., Belousov, I., Laumond, J.-P., Sakaguchi, T. & Yokoi, K. Planning 3D Collision-Free Dynamic Robotic Motion through Iterative Reshaping IEEE Trans. on Robotics
    Vol. 24(5), pp. 1186-1198 
    2008 article DOI [PDF
    BibTeX:
    @article{Yoshida08TRO,
      author = {Eiichi Yoshida and Claudia Esteves and Igor Belousov and Jean-Paul Laumond and Takeshi Sakaguchi and Kazuhito Yokoi},
      title = {Planning 3D Collision-Free Dynamic Robotic Motion through Iterative Reshaping},
      journal = {IEEE Trans. on Robotics},
      year = {2008},
      volume = {24},
      number = {5},
      pages = {1186-1198},
      doi = {http://doi.org/10.1109/TRO.2008.2002312}
    }
    
    Yoshida, E., Laumond, J.-P., Esteves, C., Kanoun, O., Sakaguchi, T. & Yokoi, K. Whole-Body Locomotion, Manipulation and Reaching for Humanoids Motion in Games, Lecture Notes in Computer Science, pp. 210-221  2008 incollection DOI URL  
    Abstract: This paper deals with motion planning and dynamic control for humanoid
    robots. The first part addresses simultaneous locomotion and manipulation
    planning while the second part deals with reaching tasks. The validity
    of the proposed methods is verified by experiments using humanoid
    platform HRP-2.
    BibTeX:
    @incollection{Yoshida08MIG,
      author = {Eiichi Yoshida and Jean-Paul Laumond and Claudia Esteves and Oussama Kanoun and Takeshi Sakaguchi and Kazuhito Yokoi},
      editor = {Arjan Egges and Arno Kamphuis and Mark Overmars},
      title = {Whole-Body Locomotion, Manipulation and Reaching for Humanoids},
      booktitle = {Motion in Games, Lecture Notes in Computer Science},
      publisher = {Springer},
      year = {2008},
      pages = {210-221},
      url = {http://www.springerlink.com/content/y28u6n1092420jqw/},
      doi = {http://doi.org/10.1007/978-3-540-89220-5_21}
    }
    
    Suleiman, W., Yoshida, E., Kanehiro, F., Laumond, J.-P. & Monin, A. On Human Motion Imitation by Humanoid Robot Proc. 2008 IEEE Int Conf. Robotics and Automation, pp. 2697-2704  2008 inproceedings  
    BibTeX:
    @inproceedings{Suleiman08ICRA,
      author = {Wael Suleiman and Eiichi Yoshida and Fumio Kanehiro and Jean-Paul Laumond and André Monin},
      title = {On Human Motion Imitation by Humanoid Robot},
      booktitle = {Proc. 2008 IEEE Int Conf. Robotics and Automation},
      year = {2008},
      pages = {2697-2704}
    }
    
    Yoshida, E., Poirier, M., Laumond, J.-P., Kanoun, O., Lamiraux, F., Alami, R. & Yokoi, K. Whole-body motion planning for pivoting based manipulation by humanoids Proc. 2008 IEEE Int. Conf. on Robotics and Automation, pp. 1712-1717  2008 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida08ICRA,
      author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Oussama Kanoun and Florent Lamiraux and Rachid Alami and Kazuhito Yokoi},
      title = {Whole-body motion planning for pivoting based manipulation by humanoids},
      booktitle = {Proc. 2008 IEEE Int. Conf. on Robotics and Automation},
      year = {2008},
      pages = {1712--1717}
    }
    
    Kanehiro, F., Suleiman, W., Lamiraux, F., Yoshida, E. & Laumond, J.-P. Integrating Dynamics into Motion Planning for Humanoid Robots Proc. 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 660-667  2008 inproceedings  
    Abstract: This paper proposes an whole body motion planning method for humanoid
    robots in which dynamics is integrated. The method consists of two
    stages. A collision-free and statically stable path is planned in
    the first stage and it is transformed into a dynamically stable trajectory
    in the second stage. Contributions of the method is

    summarized as follows. (1) A local method plans a C1 path while avoiding
    collisions between non-strictly convex objects. (2) The second stage
    gives the minimum time trajectory by time parameterization under
    dynamic balance constraints. (3) Any path reshaping for recovering
    collision-freeness is not required since the second stage doesn't
    change shape of the path. Effectiveness of the method is examined
    by applying it to scenarios of a humanoid robot HRP-2.
    BibTeX:
    @inproceedings{Kanehiro08IROS,
      author = {Fumio Kanehiro and Wael Suleiman and Florent Lamiraux and Eiichi Yoshida and Jean-Paul Laumond},
      title = {Integrating Dynamics into Motion Planning for Humanoid Robots},
      booktitle = {Proc. 2008 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2008},
      pages = {660-667}
    }
    
    Sanada, H., Yoshida, E. & Yokoi, K. Passing Under Obstacles with Humanoid Robot Proc. International Symposium on Experimental Robotics  2008 inproceedings  
    Abstract: This paper presented a motion planning method of humanoid robots to
    pass under obstacles. The proposed motion planner can find an initial
    and a goal configurations and connect them by a collisionfree dynamically
    stable motion. The effectiveness of the proposed method was validated
    by experiments with humanoid robot HRP-2.
    BibTeX:
    @inproceedings{Sanada08ISER,
      author = {Hiroki Sanada and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Passing Under Obstacles with Humanoid Robot},
      booktitle = {Proc. International Symposium on Experimental Robotics},
      year = {2008}
    }
    
    Mombaur, K., Laumond, J.-P. & Yoshida, E. An optimal control model unifying holonomic and nonholonomic walking Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots, pp. 646-653  2008 inproceedings  
    Abstract: In this paper we explore the underlying principles of natural locomotion
    path generation of human beings. The knowledge of these principles
    is useful to implement biologically inspired path planning algorithms
    on a humanoid robot. The key is to formulate the path planning problem
    as optimal control problem. We propose a single dynamic model valid
    for all situations, unifying nonholonomic and holonomic parts of
    the motion, as well as a carefully designed unified objective function.
    The choice between holonomic and nonholonomic behavior appears, along
    with the optimal path, as result of the optimization by powerful
    numerical techniques. The proposed model and objective function are
    successfully tested in six different locomotion scenarios. The resulting
    paths are implemented on the HRP2 robot in the simulation environment
    OpenHRP as well as in the experiment on the real robot.
    BibTeX:
    @inproceedings{Mombaur08Humanoids,
      author = {Katja Mombaur and Jean-Paul Laumond and Eiichi Yoshida},
      title = {An optimal control model unifying holonomic and nonholonomic walking},
      booktitle = {Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots},
      year = {2008},
      pages = {646-653}
    }
    
    Suleiman, W., Yoshida, E., Laumond, J.-P. & Monin, A. Optimizing Humanoid Motions Using Recursive Dynamics and Lie Groups Proceedings of International Conference on Information and Communication Technologies: From Theory to Applications, pp. 1-6  2008 inproceedings  
    Abstract: In this paper, we present a recursive method for the optimization
    of humanoid robot motions. The method is based on an efficient dynamics
    algorithm, which allows the calculation of the gradient function
    with respect to the control parameters analytically. The algorithm
    makes use of the theory of Lie groups and Lie algebra. The main objective
    of this method is to smooth the pre-calculated humanoid motions by
    minimizing the efforts, and at the same time improving the stability
    of the humanoid robot during the execution of the planned tasks.
    Experimental results using HRP-2 platform are provided to

    validate the proposed method
    BibTeX:
    @inproceedings{Suleiman2008ICICT,
      author = {Wael Suleiman and Eiichi Yoshida and Jean-Paul Laumond and André Monin},
      title = {Optimizing Humanoid Motions Using Recursive Dynamics and Lie Groups},
      booktitle = {Proceedings of International Conference on Information and Communication Technologies: From Theory to Applications},
      year = {2008},
      pages = {1-6}
    }
    
    Kanehiro, F., Lamiraux, F., Kanoun, O., Yoshida, E. & Laumond, J.-P. A Local Collision Avoidance Method for Non-strictly Convex Polyhedra Proceedings of Robotics: Science and Systems (RSS 08)  2008 inproceedings  
    Abstract: This paper proposes a local collision avoidance method for non-strictly
    convex polyhedra with continuous velocities. The main contribution
    of the method is that non-strictly convex polyhedra can be used as
    geometric models of the robot and the environment without any approximation.
    The problem of the continuous interaction generation between polyhedra
    is reduced to the continuous constraints generation between polygonal
    faces and the continuity of those constraints are managed by the
    combinatorics based on Voronoi regions of a face. A collision-free
    motion is obtained by solving an optimization problem defined by
    an objective function which describes a task and linear inequality
    constraints which do geometrical constraints to avoid collisions.
    The proposed method is examined using example cases of simple objects
    and also applied to a humanoid robot HRP-2.
    BibTeX:
    @inproceedings{Kanehiro08RSS,
      author = {Fumio Kanehiro and Florent Lamiraux and Oussama Kanoun and Eiichi Yoshida and Jean-Paul Laumond},
      title = {A Local Collision Avoidance Method for Non-strictly Convex Polyhedra},
      booktitle = {Proceedings of Robotics: Science and Systems (RSS 08)},
      year = {2008}
    }
    
    Yoshida, E., Hugel, V., Plazevic, P., Yokoi, K. & Harada, K. Dexterous humanoid whole-body manipulation by pivoting Humanoid Robots: Human-like Machines, pp. 459-474  2007 incollection [PDF
    Abstract: Pivoting has such advantages as dexterity and safety over such methods
    as pushing or lifting to manipulate bulky or heavy objects. The technique
    of pivoting is used by humans to move large and bulky furniture from
    one place to another. This work intends to apply the technique of
    pivoting using a humanoid platform towards dexterous whole-body manipulation.
    The robot should be able to pivot the object and to walk with it
    to displace it to a specific location. In this paper, an elementary
    whole-body motion of pivoting by a humanoid robot is studied. First,
    the object is manipulated by two arms of a humanoid robot using impedance
    control for grasping, together with body balancing control while
    the robot stays at the same place. Next, the movement of the humanoid
    robot itself is performed by stepping with the help of resolved momentum
    control (RMC) to guarantee the robot stability. The proposed manipulation
    method is validated through dynamic simulation and hardware experiment
    using the humanoid platform HRP-2.
    BibTeX:
    @incollection{Yoshida07ITech,
      author = {Eiichi Yoshida and Vincent Hugel and Pierre Plazevic and Kazuhito Yokoi and Kensuke Harada},
      editor = {Matthias Hackel},
      title = {Dexterous humanoid whole-body manipulation by pivoting},
      booktitle = {Humanoid Robots: Human-like Machines},
      publisher = {I-Tech Education and Publishing},
      year = {2007},
      pages = {459-474}
    }
    
    Harada, K., Hattori, S., Hirukawa, H., Morisawa, M., Kajita, S. & Yoshida, E. Motion Planning for Walking Pattern Generation of Humanoid Robots Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4227-4233  2007 inproceedings  
    Abstract: In this paper, we plan the collision free motion for walking pattern
    generation of a humanoid robot. Our motion planner can take into
    account several features of the walking pattern generator. The effectiveness
    of the proposed method is confirmed by simulation and experiment.
    BibTeX:
    @inproceedings{Harada07IROS,
      author = {Kensuke Harada and Shizuko Hattori and Hirohisa Hirukawa and Mitsuharu Morisawa and Shuuji Kajita and Eiichi Yoshida},
      title = {Motion Planning for Walking Pattern Generation of Humanoid Robots},
      booktitle = {Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2007},
      pages = {4227-4233}
    }
    
    Sanada, H., Yoshida, E. & Yokoi, K. Passing Under Obstacles with Humanoid Robots Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4028-4034  2007 inproceedings  
    Abstract: A motion planning method that allows humanoid robots to pass under
    obstacles is developed. From experimental analyses of human motions,
    we find a new category of the

    motion: a human turns sideways and passes under an obstacle. In order
    to realize this kind motion with humanoid robot HRP-2, statically
    stable and geometrically possible initial and goal configurations
    are analyzed. A motion planning method that can connect two configurations
    with dynamic stability is proposed. It consists of Motion Path Planner
    and Motion Timing Planner. Motion Path Planner can generate statically
    stable motion under considering joint movable range and collision
    avoidance. Motion Timing Planner can generate dynamically stable
    motion under considering ZMP conditions and maximum joint velocities.
    The effectiveness of the proposed method is experimentally confirmed
    with humanoid robot HRP-2.
    BibTeX:
    @inproceedings{Sanada07IROS,
      author = {Hiroki Sanada and Eiichi Yoshida and Kazuhito Yokoi},
      title = {Passing Under Obstacles with Humanoid Robots},
      booktitle = {Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2007},
      pages = {4028-4034}
    }
    
    Yoshida, E., Poirier, M., Laumond, J.-P., Alami, R. & Yokoi, K. Pivoting Based Manipulation by Humanoids: a Controllability Analysis Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1130-1135  2007 inproceedings [PDF
    Abstract: Pivoting manipulation has such advantages as dexterity and safety
    over other methods to move bulky or heavy objects. In this paper
    we aim to show that a polyhedral object can be displaced to arbitrary
    position and orientation on a plane (i.e. such a pivoting system
    is controllable). More than that we show it is small time controllable,
    i.e. the reachable space from a starting point contains always a
    neighbor no matter how cluttered the environment is. As a consequence
    of this analysis, we propose a steering method to plan a manipulation
    path to be performed by a humanoid robot: first we use a classical
    nonholonomic path planner that accounts for the robot motion constraints,
    then we transform that path into a sequence of pivoting operations.
    While the feasibility of elementary pivoting tasks has been already
    experienced by the humanoid robot HRP-2, we present here the very
    first simulations of the plans generated by our steering method.
    BibTeX:
    @inproceedings{Yoshida07iros,
      author = {Eiichi Yoshida and Mathieu Poirier and Jean-Paul Laumond and Rachid Alami and Kazuhito Yokoi},
      title = {Pivoting Based Manipulation by Humanoids: a Controllability Analysis},
      booktitle = {Proc. 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2007},
      pages = {1130-1135}
    }
    
    Dominey, P.F., Mallet, A. & Yoshida, E. Real-Time Cooperative Behavior Acquisition by a Humanoid Apprentice Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots, pp. 270-275  2007 inproceedings  
    Abstract: An apprentice is an able-bodied individual that should interactively
    assist an expert, and through this interaction, they should acquire
    knowledge and skill in the given task domain. In this context the
    robot should have a useful repertoire of sensory-motor acts that
    the human can command with spoken language. In order to address the
    additional requirements for learning new behaviors, the robot should
    additionally have a real-time behavioral sequence acquisition capability.
    The learned sequences should function as executable procedures that
    can operate in a flexible manner that are not rigidly sensitive to
    initial conditions. The current research develops these capabilities
    in a real-time control system for the HRP-2 humanoid. The task domain
    involves a human and the HRP-2 working together to assemble a piece
    of furniture. We previously defined a system for Spoken Language
    Programming (SLP) that allowed the user to guide the robot through
    an arbitrary, task relevant, motor sequence via spoken commands,
    and to store this sequence as re-usable macro. The current research
    significantly extends the SPL system: It integrates vision and motion
    planning into the SLP framework, providing a new level of flexibility
    in the behavior that can be created. Most important it allows the
    user to create "generic" functions with arguments (e.g. Give me X),
    and it allows multiple functions to be created. We thus demonstrate
    - for the first time - a humanoid robot equipped with vision based
    grasping, and the ability to acquire multiple sensory motor behavioral
    procedures in real-time through SLP in the context of a cooperative
    task. The humanoid robot thus acquires new sensory motor skills that
    significantly facilitate the cooperative human-robot interaction.
    BibTeX:
    @inproceedings{Dominey07Humanoids,
      author = {Peter Ford Dominey and Anthony Mallet and Eiichi Yoshida},
      title = {Real-Time Cooperative Behavior Acquisition by a Humanoid Apprentice},
      booktitle = {Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots},
      year = {2007},
      pages = {270-275}
    }
    
    Suleiman, W., Yoshida, E., Laumond, J.-P. & Monin, A. On Humanoid Motion Optimization Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots, pp. 180-187  2007 inproceedings  
    Abstract: In this paper, we present a recursive method for the optimization
    of humanoid robot motions. The method is based on an efficient dynamics
    algorithm, which allows the calculation of the gradient function
    with respect to the control parameters analytically. The algorithm
    makes use of the theory of Lie groups and Lie algebra. The main objective
    of this method is to smooth the pre-calculated humanoid motions by
    minimizing the efforts, and at the same time improving the stability
    of the humanoid robot during the execution of the planned tasks.
    Experimental results using HRP-2 platform are provided to validate
    the proposed method.
    BibTeX:
    @inproceedings{Suleiman07Humanoids,
      author = {Wael Suleiman and Eiichi Yoshida and Jean-Paul Laumond and André Monin},
      title = {On Humanoid Motion Optimization},
      booktitle = {Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots},
      year = {2007},
      pages = {180-187}
    }
    
    Yoshida, E., Mallet, A., Lamiraux, F., Kanoun, O., Stasse, O., Poirier, M., Dominey, P.F., Laumond, J.-P. & Yokoi, K. "Give me the Purple Ball" -- he said to HRP-2 N.14 Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots, pp. 89-95  2007 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida07humanoids,
      author = {Eiichi Yoshida and Anthony Mallet and Florent Lamiraux and Oussama Kanoun and Olivier Stasse and Mathieu Poirier and Peter Ford Dominey and Jean-Paul Laumond and Kazuhito Yokoi},
      title = {"Give me the Purple Ball" -- he said to HRP-2 N.14},
      booktitle = {Proceedings of 7th IEEE-RAS International Conference on Humanoid Robots},
      year = {2007},
      pages = {89--95}
    }
    
    Yoshida, E., Blazevic, P., Hugel, V., Yokoi, K. & Harada, K. Pivoting a large object: whole-body manipulation by a humanoid robot J. of Applied Bionics and Biomechanics
    Vol. 3(3), pp. 227-235 
    2006 article [PDF
    BibTeX:
    @article{Yoshida06JABB,
      author = {Eiichi Yoshida and Pierre Blazevic and Vincent Hugel and Kazuhito Yokoi and Kensuke Harada},
      title = {Pivoting a large object: whole-body manipulation by a humanoid robot},
      journal = {J. of Applied Bionics and Biomechanics},
      year = {2006},
      volume = {3},
      number = {3},
      pages = {227--235}
    }
    
    Kurokawa, H., Yoshida, E., Tomita, K., Kamimura, A., Murata, S. & Kokaji, S. Self-reconfigurable M-TRAN structures and walker generation Robotics and Autonomous Systems
    Vol. 54(2), pp. 142-149 
    2006 article  
    Abstract: The M-TRAN is a modular robot capable of both three-dimensional self-reconfiguration
    and whole body locomotion. Introducing regularity in allowed structures
    reduced difficulties of its reconfiguration problems. Several locomotion
    patterns in various structures were designed systematically using
    CPG controller model and GA optimization. Then they were verified
    by experimentation. Results showed a feasible scenario of operation
    with multiple M-TRAN modules, which is presented herein, including
    metamorphosis of a regular structure, generation of walkers from
    the structure, walker locomotion, and reassembling of walkers to
    the structure.
    BibTeX:
    @article{Kurokawa06RAS,
      author = {Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Akiya Kamimura and Satoshi Murata and Shigeru Kokaji},
      title = {Self-reconfigurable M-TRAN structures and walker generation},
      journal = {Robotics and Autonomous Systems},
      year = {2006},
      volume = {54},
      number = {2},
      pages = {142-149}
    }
    
    Yoshida, E., Esteves, C., Sakaguchi, T. & Jean-Paul Laumond, K. Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion Proc. 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 208-213  2006 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida06IROS,
      author = {Eiichi Yoshida and Claudia Esteves and Takeshi Sakaguchi and Jean-Paul Laumond, KazuhitoYokoi},
      title = {Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion},
      booktitle = {Proc. 2006 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2006},
      pages = {208-213}
    }
    
    Yoshida, E., Kanoun, O., Esteves, C., Laumond, J.-P. & Yokoi, K. Task-driven Support Polygon Reshaping for Humanoids Proceedings of 6th IEEE-RAS International Conference on Humanoid Robots, pp. 827-832  2006 inproceedings [PDF
    Abstract: In this paper we address a task-driven motion generation method that
    allows a humanoid robot to make whole-body motions including support
    polygon reshaping to achieve the given tasks. In the proposed method,
    generalized inverse kinematics (IK) is employed with floating-base
    to generate humanoid whole-body motions that enable the robot to
    accomplish the tasks according to given priorities. During the motion,
    several criteria such as manipulability or end-effector position
    error are tracked. If the desired task cannot be done because of
    those criteria, a geometric planner for support polygon is activated.
    Then the whole-body motion is computed again always using the generalized
    IK solver including stepping motion that realizes the deformed support
    polygon by using dynamic walking pattern generator. This method provides
    a way to perform tasks that could not be done without changing the
    humanoid’s support state. We have verified the proposed framework
    through simulations and experiments using humanoid robot HRP-2.
    BibTeX:
    @inproceedings{Yoshida06Humanoids,
      author = {Eiichi Yoshida and Oussama Kanoun and Claudia Esteves and Jean-Paul Laumond and Kazuhito Yokoi},
      title = {Task-driven Support Polygon Reshaping for Humanoids},
      booktitle = {Proceedings of 6th IEEE-RAS International Conference on Humanoid Robots},
      year = {2006},
      pages = {827--832}
    }
    
    Kamimura, A., Kurokawa, H., Yoshida, E., Murata, S., Tomita, K. & Kokaji, S. Automatic Locomotion Design and Experiments for a Modular Robotic System IEEE-ASME Trans. on Mechatronics
    Vol. 10(3), pp. 314-325 
    2005 article [PDF
    Abstract: Self-reconfigurable modular robotic system has been attracting many
    researchers for its versatility. The capabilities such as self-reconfiguration
    and locomotion in various configurations enable adaptation to the
    environment and given tasks. Considering a practical use of such
    modular robotic systems, locomotion capability is considered as a
    most essential function. There are two types of locomotion utilized
    for modular robots; one type is realized by repeating self-reconfiguration
    and the other is realized as a whole body motion such as walking
    and crawling. Even for the latter type of locomotion, designing control
    method is more difficult than ordinary robots. This is because configurations
    made by modules are a multi-degree of freedom system and there are
    a wide variety of possible configurations. In this paper we address
    the latter type of locomotion for modular robots and propose an offline
    method to generate a locomotion pattern automatically suited for
    a given module configuration. The proposed method utilizes a neural
    oscillator as a controller of the joint motor and evolutionary computation
    method for optimization of the neural oscillator network, which determines
    the pattern of locomotion. We confirm the validity of the method
    by software simulation and hardware experiments. We also show experiments
    on a series of locomotion and transformation to prove the performance
    of our modular robotic system named M-TRAN II.
    BibTeX:
    @article{Kamimura05TME,
      author = {Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
      title = {Automatic Locomotion Design and Experiments for a Modular Robotic System},
      journal = {IEEE-ASME Trans. on Mechatronics},
      year = {2005},
      volume = {10},
      number = {3},
      pages = {314-325}
    }
    
    Yoshida, E., Hugel, V. & Blazevic, P. Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform Proc. 2005 IEEE Int. Conf. on Robotics and Automation, pp. 1052-1-57  2005 inproceedings [PDF
    Abstract: Pivoting manipulation can be an alternative to pushing operation when
    the floor is not flat enough, or when the object to manipulate is
    too heavy. The technique of pivoting is used by humans to move large
    and bulky furniture from one place to another. The decomposition
    of the task of pivoting has already been studied, in particular with
    the use of two fingers of a robotic arm. This work intends to apply
    the technique of pivoting using an humanoid platform. The robot should
    be able to pivot the object and to walk with it to displace it to
    a specific remote location. The research achievements proposed here
    take place in a more long term objective aimed at improving the dexterity
    and the autonomy of humanoid robots. As a matter of fact, such robots
    should be able to handle objects and move around in the environment
    in an autonomous way. This paper describes the algorithm designed
    to perform the displacement of a large object using the pivoting
    technique. It also presents the results of the dynamic simulation
    of the HRP-2 platform performing the task.
    BibTeX:
    @inproceedings{Yoshida05ICRA,
      author = {Eiichi Yoshida and Vincent Hugel and Pierre Blazevic},
      title = {Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform},
      booktitle = {Proc. 2005 IEEE Int. Conf. on Robotics and Automation},
      year = {2005},
      pages = {1052-1-57}
    }
    
    Yoshida, E. Humanoid Motion Planning using Multi-Level DOF Exploitation based on Randomized Method Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 25-30  2005 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida05iros,
      author = {Eiichi Yoshida},
      title = {Humanoid Motion Planning using Multi-Level DOF Exploitation based on Randomized Method},
      booktitle = {Proc. 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2005},
      pages = {25--30}
    }
    
    Kurokawa, H., Tomita, K., Kamimura, A., Yoshida, E., Kokaji, S. & Murata, S. Distributed Self-reconfiguration Control of Modular Robot M-TRAN Proceedings of 2005 IEEE International Conference on Mechatronics and Automation, pp. 254-259  2005 inproceedings  
    BibTeX:
    @inproceedings{Kurokawa05ICMA,
      author = {Haruhisa Kurokawa and Kohji Tomita and Akiya Kamimura and Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata},
      title = {Distributed Self-reconfiguration Control of Modular Robot M-TRAN},
      booktitle = {Proceedings of 2005 IEEE International Conference on Mechatronics and Automation},
      year = {2005},
      pages = {254-259}
    }
    
    Yoshida, E., Guan, Y., Sian, N.E., Hugel, V., Blazevic, P., Kheddar, A. & Yokoi, K. Motion Planning for Whole Body Tasks by Humanoid Robots Proceedings of 2005 IEEE International Conference on Mechatronics and Automation, pp. 1784-1789  2005 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida05ICMA,
      author = {Eiichi Yoshida and Yisheng Guan and Neo Ee Sian and Vicent Hugel and Pierre Blazevic and Abderrahmane Kheddar and Kazuhito Yokoi},
      title = {Motion Planning for Whole Body Tasks by Humanoid Robots},
      booktitle = {Proceedings of 2005 IEEE International Conference on Mechatronics and Automation},
      year = {2005},
      pages = {1784-1789}
    }
    
    Yokoi, K., Sian, N.E., Sakaguchi, T., Arisumi, H., Yoshida, E., Stasse, O., Kawai, Y., Maruyama, K.-i., Yoshimi, T. & Kajita, S. Humanoid Robot HRP-2 No.10 with Human Supervision Proceedings of 36th International Symposium on Robotics  2005 inproceedings  
    Abstract: We developed humanoid robot HRP-2 No.10 that can look for lost items
    or suspicious objects while avoiding or removing objects that get
    it in its way in the kind of semi-unfamiliar environment where a
    human can function. A remote control method for humanoid robots that
    integrates human operator's intention with robot's autonomy is developed.
    The effectiveness of the method is experimentally confirmed by using
    humanoid robot HRP-2 No.10 whose hands and head are modified to increase
    its performance. At the EXPO 2005 Aichi, HRP-2 No.10 found and retrieved
    a can on the table and a bag on the floor.
    BibTeX:
    @inproceedings{Yokoi05ISR,
      author = {Kazuhito Yokoi and Neo Ee Sian and Takeshi Sakaguchi and Hitoshi Arisumi and Eiichi Yoshida and Olivier Stasse and Yoshihiro Kawai and Ken-ichi Maruyama and Takashi Yoshimi and Shuuji Kajita},
      title = {Humanoid Robot HRP-2 No.10 with Human Supervision},
      booktitle = {Proceedings of 36th International Symposium on Robotics},
      year = {2005}
    }
    
    Yoshida, E., Belousov, I., Esteves, C. & Laumond, J.-P. Humanoid Motion Planning for Dynamic Tasks Proceedings of 5th IEEE-RAS International Conference on Humanoid Robots, pp. 1-6  2005 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida05Humanoids,
      author = {Eiichi Yoshida and Igor Belousov and Claudia Esteves and Jean-Paul Laumond},
      title = {Humanoid Motion Planning for Dynamic Tasks},
      booktitle = {Proceedings of 5th IEEE-RAS International Conference on Humanoid Robots},
      year = {2005},
      pages = {1-6}
    }
    
    Groen, F., Amato, N., Bonarini, A. & Yoshida, E. Initelligent Autonomous Systems 8   2004 book  
    BibTeX:
    @book{Yoshida04BookIAS,
      author = {Frans Groen and Nancy Amato and Andreas Bonarini and Eiichi Yoshida},
      title = {Initelligent Autonomous Systems 8},
      publisher = {IOS press},
      year = {2004}
    }
    
    Yoshida, E., Kurokawa, H., Kamimura, A., Murata, S., Tomita, K. & Kokaji, S. Planning Behaviors of Modular Robots with Coherent Structure using Randomized Method Distributed Autonomous Robotics Systems 6, pp. 149-158  2004 incollection [PDF
    Abstract: A behavior planning method is presented for reconfigurable modular
    robots with coherent structure using a randomized planning. Coherent
    structure is introduced to cope with difficulty in planning of many
    degrees of freedom, in terms of control system and robot config¬uration.
    This is realized by a phase synchronization mechanism together with
    symmetric robot configuration, which enables the robot to generate
    various coherent dynamic motions. The pa¬rameters of control systems
    are explored using a randomized planning method called rapidly exploring
    random trees (RRTs). The RRT planner has an advantage of simple implementation
    as well as possibility of integrating differential constraints. The
    dynamic robot motion is thus planned and preliminary simulation results
    are shown to demonstrate the proposed planning scheme can generate
    appropriate behaviors according to environments.
    BibTeX:
    @incollection{Yoshida04DARS,
      author = {Eiichi Yoshida and Haruhisa Kurokawa and Akiya Kamimura and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
      editor = {Rachid Alami and Raja Chatila and Hajime Asama},
      title = {Planning Behaviors of Modular Robots with Coherent Structure using Randomized Method},
      booktitle = {Distributed Autonomous Robotics Systems 6},
      publisher = {Springer},
      year = {2004},
      pages = {149-158}
    }
    
    Kamimura, A., Kurokawa, H., Yoshida, E., Murata, S., Tomita, K. & Kokaji, S. Distributed Adaptive Locomotion by a Modular Robotic System, M-TRAN II (From Local Adaptation to Global Coodinated Motion Using CPG Controllers) Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2370-2377  2004 inproceedings [PDF
    Abstract: A modular robot has a distributed mechanical composition which can
    make various configurations and also

    make locomotion in a wide variety of configurations. Modular robots
    are thought to be useful in extreme or

    unknown environments by adaptively changing their shape and locomotion
    patterns. As for locomotion, two types can be

    used; one is whole-body fixed-configuration locomotion and the other
    is locomotion by self-reconfiguration. In this paper

    we deal with the former type of locomotion where module configurations
    are fixed and locomotion is realized by

    coordinated joint actuation. So far, proposed control methods for
    whole-body locomotion by modular robots have

    been based on predefined locomotion sequences. However, locomotion
    based on predefined sequences cannot adapt to

    changing terrain conditions such as uphill, downhill, slippery and
    sticky grounds. To solve such problems, we apply a

    distributed control mechanism using a CPG controller to realize adaptive
    locomotion by modular robots. Besides the

    CPG control we introduce an additional control mechanism for detecting
    the situation that the robot is stuck and

    initiating transformation. The results of hardware experiments by
    4-legged structure prove the feasibility of the

    method for adaptive locomotion and transformation by our M-TRAN II
    modules.
    BibTeX:
    @inproceedings{Kamimura04IROS,
      author = {Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
      title = {Distributed Adaptive Locomotion by a Modular Robotic System, M-TRAN II (From Local Adaptation to Global Coodinated Motion Using CPG Controllers)},
      booktitle = {Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2004},
      pages = {2370-2377}
    }
    
    Yoshida, E., Kurokawa, H., Kamimura, A., Murata, S., Tomita, K. & Kokaji, S. Planning Behaviors of a Modular Robot: an Approach Applying a Randomized Planner to Coherent Structure Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2056-2061  2004 inproceedings [PDF
    Abstract: A Method for behavior planning is presented for a modular robot that
    applies a randomized planner to coherent structure of the robot.
    To cope with difficulty in planning of many degrees of freedom (DOFs)
    of a modular robot, we adopted “coherent structure” in terms of control
    system and robot configuration. As the control system, a simple phase
    synchronization mechanism is introduced that can control the robot
    with many DOFs with reduced number of parameters. Together with coherency
    in configuration, which is symmetrical shape, this control system
    can generate various dynamic motions. To plan the behaviors of the
    modular robot determined by the parameters of the control system,
    we adopt a randomized planner called rapidly exploring random trees
    (RRTs). This can benefit from a number of advantages of RRT planner,
    including simple implementation, uniform search, and applicability
    to a dynamic system with differential constraints. By exploring parameter
    space of the coherent control system, behaviors including dynamic
    motions can be planned. We have applied the proposed planner to MTRAN
    modular robot to demonstrate the effectiveness of the proposed method
    through preliminary simulation results.
    BibTeX:
    @inproceedings{Yoshida04IROS,
      author = {Eiichi Yoshida and Haruhisa Kurokawa and Akiya Kamimura and Satoshi Murata and Kohji Tomita and Shigeru Kokaji},
      title = {Planning Behaviors of a Modular Robot: an Approach Applying a Randomized Planner to Coherent Structure},
      booktitle = {Proc. 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2004},
      pages = {2056-2061}
    }
    
    Kurokawa, H., Yoshida, E., Tomita, K., Kamimura, A., Murata, S. & Kokaji, S. Deformable Multi M-TRAN Structure Works as Walker Generator Proceedings of Intelligent Autonomous Systems 8, pp. 746-753  2004 inproceedings  
    Abstract: The M-TRAN is a modular robot capable of both three dimensional self-reconfiguration
    and whole body locomotion. The difficulties of its self-reconfiguration
    problem were reduced by introducing regularity in allowed structures.
    Several locomotion patterns in various structures were designed systematically
    and verified by experiments. Based on those results, a feasible scenario
    of operation with multiple M-TRAN modules is presented, including
    metamorphosis of a deformable multi-module structure, generation
    of walkers from the structure, walker locomotion and reassembling
    of walkers to the structure.
    BibTeX:
    @inproceedings{Kurokawa04IAS,
      author = {Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Akiya Kamimura and Satoshi Murata and Shigeru Kokaji},
      title = {Deformable Multi M-TRAN Structure Works as Walker Generator},
      booktitle = {Proceedings of Intelligent Autonomous Systems 8},
      year = {2004},
      pages = {746-753}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Evolutionary Motion Synthesis for a Modular Robot using Genetic Algorithm Journal of Robotics and Mechatronics
    Vol. 15(2), pp. 227-237 
    2003 article [PDF
    Abstract: An evolutionary motion synthesis method using genetic algorithm (GA)
    is presented for selfreconfigurable modular robot M-TRAN designed
    to realize various robotic motions and threedimensional structures.
    The proposed method is characterized by its capacity to derive feasible
    solutions for complex synthesis problem of M-TRAN through natural
    genetic representation. For this purpose, the behavior of the robot
    is described using a motion sequence including both the dynamic motions
    and configuration changes of the robot. It is a series of segments
    each of which can specify simultaneous motor actuations and self-reconfiguration
    by connection/disconnection, starting from a given initial configuration.
    This simple description can be straightforwardly encoded into genetic
    representation to which genetic operations can be applied in a natural
    manner. We adopt traveling distance achieved by the evolved motion
    as the fitness function of GA. To verify the effectiveness of the
    proposed method, we have conducted simulations of evolutionary motion
    synthesis for certain initial configurations. Consequently, we confirm
    various adaptive motions are acquired according to different initial
    configurations and fitness functions. We also verify the physical
    feasibility of the evolved motions through experiments using hardware
    module M-TRAN II.
    BibTeX:
    @article{Yoshida03JRM,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Evolutionary Motion Synthesis for a Modular Robot using Genetic Algorithm},
      journal = {Journal of Robotics and Mechatronics},
      year = {2003},
      volume = {15},
      number = {2},
      pages = {227-237}
    }
    
    Kamimura, A., Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. Research on Self-Reconfigurable Modular Robot System (Experiments on Reconfiguration and Locomotion with Several Modules) JSME International Journal Series C - Mechanical Elements and Manufacturing
    Vol. 46(4), pp. 1490-1496 
    2003 article  
    Abstract: Growing complexity of artificial systems arises reliability and flexibility
    issues of large system design. Robots are not exception of this,
    and many attempts have been made to realize reliable and flexible
    robot systems. Distributed modular composition of robot is one of
    the most effective approaches to attain such abilities and has a
    potential to adapt to its surroundings by changing its configuration
    autonomously according to information of surroundings. In this paper,
    we propose a novel three-dimensional self-reconfigurable robotic
    module. Each module has a very simple structure that consists of
    two semi-cylindrical parts connected by a link. The modular system
    is capable of not only building static structure but also generating
    dynamic robotic motion. We present details of the mechanical / electrical
    design of the developed module and its control system architecture.
    Experiments using ten modules with centralized control demonstrate
    robotic configuration change, crawling locomotion and three types
    of quadruped locomotion.
    BibTeX:
    @article{Kamimura03JSME,
      author = {Akiya Kamimura and Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {Research on Self-Reconfigurable Modular Robot System (Experiments on Reconfiguration and Locomotion with Several Modules)},
      journal = {JSME International Journal Series C - Mechanical Elements and Manufacturing},
      year = {2003},
      volume = {46},
      number = {4},
      pages = {1490-1496}
    }
    
    Murata, S., Yoshida, E., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Homogeneous Distributed Mechanical Systems Morpho-Functional Machines the New Species, pp. 167-193  2003 incollection  
    BibTeX:
    @incollection{Murata03Morpho,
      author = {Satoshi Murata and Eiichi Yoshida and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      editor = {Fumio Hara and Rolf Pfeifer},
      title = {Homogeneous Distributed Mechanical Systems},
      booktitle = {Morpho-Functional Machines the New Species},
      publisher = {Springer Tokyo},
      year = {2003},
      pages = {167-193}
    }
    
    Kamimura, A., Kurokawa, H., Yoshida, E., Tomita, K., Murata, S. & Kokaji, S. Automatic Locomotion Pattern Generation for Modular Robots Proc. 2003 IEEE Int Conf. Robotics and Automation, pp. 714-710  2003 inproceedings [PDF
    Abstract: Locomotion, one of the most basic robotic functions, has been widely
    studied for several types of robots. As for self-reconfigurable modular
    robots, there are two types of locomotion; one type is realized as
    a series of self-reconfiguration and the other is realized as a whole
    body motion such as walking and crawling. Even for the latter type
    of locomotion, designing control method is more difficult than ordinary
    robots. This is because the module configuration includes many degrees
    of freedom and there are a wide variety of possible configurations.
    We propose an offline method to generate a locomotion pattern automatically
    for a modular robot in an arbitrary module configuration, which utilizes
    a neural oscillator as a controller of the joint motor and evolutionary
    computation method for optimization of the neural oscillator network,
    which determines the performance of locomotion. We confirm the validity
    of the method by software simulation and hardware experiments.
    BibTeX:
    @inproceedings{Kamimura03ICRA,
      author = {Akiya Kamimura and Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Satoshi Murata and Shigeru Kokaji},
      title = {Automatic Locomotion Pattern Generation for Modular Robots},
      booktitle = {Proc. 2003 IEEE Int Conf. Robotics and Automation},
      year = {2003},
      pages = {714-710}
    }
    
    Kurokawa, H., Kamimura, A., Yoshida, E., Tomita, K., Murata, S. & Kokaji, S. M-TRAN II: Metamorphosis from a Four-Legged Walker to a Caterpillar Proc. 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2452-2459  2003 inproceedings  
    Abstract: We have been developing a self-reconfigurable modular robotic system
    (M-TRAN) which can make various 3D configurations and motions. In
    the second prototype (M-TRAN II), various improvements are integrated
    in order to realize complicated reconfigurations and versatile whole
    body motions. Those are a reliable connection/detachment mechanism,
    onboard multi-computers, high speed inter-module communication system,
    low power consumption, precise motor control, etc. Programing environments
    are also integrated to design self-reconfiguration processes, to
    verify motions in dynamics simulation, and to realize distributed
    control on the hardware. Hardware design, developed software and
    experiments are presented in this paper.
    BibTeX:
    @inproceedings{Kurokawa03IROS,
      author = {Haruhisa Kurokawa and Akiya Kamimura and Eiichi Yoshida and Kohji Tomita and Satoshi Murata and Shigeru Kokaji},
      title = {M-TRAN II: Metamorphosis from a Four-Legged Walker to a Caterpillar},
      booktitle = {Proc. 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2003},
      pages = {2452-2459}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Evolutionary Synthesis of Dynamic Motion and Reconfiguration Process for a Modular Robot M-TRAN Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003), pp. 1004-1010  2003 inproceedings [PDF
    Abstract: In this paper we present a couple of evolutionary motion generation
    methods using genetic algorithms (GA) for self-reconfigurable modular
    robot M-TRAN and demonstrate their effectiveness through hardware
    experiments. Using these methods, feasible solutions with sufficient
    performance can be derived for a motion generation problem with high
    complexity coming from huge configuration and motion possibilities
    of the robot. The first method called ERSS (Evolutionary Reconfiguration
    Sequence Synthesis) applies GA (Genetic Algorithm) to evolution of
    motion sequence including configuration changes though natural genetic
    representation. The effectiveness of the generated full-body dynamic
    motions are verified through hardware experiments. The second method
    called ALPG (Automatic Locomotion Pattern Generation) Method seeks
    locomotion pattern using a neural oscillator as a CPG (Central Pattern
    Generator) model and GA to optimize the parameters for locomotion.
    A number of efficient locomotion patterns has been derived, which
    are also experimentally verified.
    BibTeX:
    @inproceedings{Yoshida03CIRA,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Evolutionary Synthesis of Dynamic Motion and Reconfiguration Process for a Modular Robot M-TRAN},
      booktitle = {Proceedings 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2003)},
      year = {2003},
      pages = {1004-1010}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Self-Reconfigurable Modular Robots - Hardware and Software Development in AIST - Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing (RISSP 2003)  2003 inproceedings [PDF
    Abstract: In this paper we present the development of hardware and software
    of self-reconfigurable modular robots in National Institute of Advanced
    Industrial Science and Technology (AIST), Japan. Thanks to their
    flexibility, versatility and fault-tolerance, self-reconfigurable
    modular robots are expected to be used in various application fields,
    such as space, rescue or micro-sized world. Our research group has
    been pioneering this new field and developed several hardware prototypes
    and corresponding software that exploit the robots' potential. We
    have been successfully demonstrated the feasibility of the self-reconfigurable
    modular robots based on experiments from different aspects. Starting
    from two-dimensional (2D) self-assembling and self-repairing machine
    Fractum, we review hardware development in diverse directions, like
    to micro-world, three-dimensional (3D) structures and motions; as
    well as the progress of control software, including distributed control
    and recent evolutionary motion acquisition.
    BibTeX:
    @inproceedings{Yoshida03RISSP,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Self-Reconfigurable Modular Robots - Hardware and Software Development in AIST -},
      booktitle = {Proceedings of IEEE International Conference on Robotics, Intelligent Systems and Signal Processing (RISSP 2003)},
      year = {2003}
    }
    
    Murata, S., Yoshida, E., Kamimura, A., Kurokawa, H., Tomita, K. & Kokaji, S. M-TRAN: Self-Reconfigurable Modular Robotic System IEEE-ASME Trans. on Mechatronics
    Vol. 7(4), pp. 431-441 
    2002 article [PDF
    BibTeX:
    @article{Murata02TME,
      author = {Satoshi Murata and Eiichi Yoshida and Akiya Kamimura and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {M-TRAN: Self-Reconfigurable Modular Robotic System},
      journal = {IEEE-ASME Trans. on Mechatronics},
      year = {2002},
      volume = {7},
      number = {4},
      pages = {431-441}
    }
    
    Yoshida, E., Murata, S., Kokaji, S., Kamimura, A., Tomita, K. & Kurokawa, H. Get Back In Shape! A Hardware Prototype Self-Reconfigurable Modular Microrobot that Uses Shape Memory Alloy IIEEE Robotics and Automation Magazine
    Vol. 9(4), pp. 54-60 
    2002 article [PDF
    BibTeX:
    @article{Yoshida02RAM,
      author = {Eiichi Yoshida and Satoshi Murata and Shigeru Kokaji and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa},
      title = {Get Back In Shape! A Hardware Prototype Self-Reconfigurable Modular Microrobot that Uses Shape Memory Alloy},
      journal = {IIEEE Robotics and Automation Magazine},
      year = {2002},
      volume = {9},
      number = {4},
      pages = {54-60}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. A Self-Reconfigurable Modular Robot : Reconfiguration Planning and Experiments International Journal of Robotics Research
    Vol. 21(10), pp. 903-916 
    2002 article [PDF
    Abstract: In this paper we address a reconfiguration planning method for locomotion
    of a homogeneous modular robotic system and we conduct an experiment
    to verify that the planned locomotion can be realized by hardware.
    Our recently developed module is self-reconfigurable. A group of
    the modules can thus generate various three-dimensional robotic structures
    and motions. Although the module itself is a simple mechanism, self-reconfiguration
    planning for locomotion presents a computationally difficult problem
    due to the many combinatorial possibilities of modular configurations.
    In this paper, we develop a two-layered planning method for locomotion
    of a class of regular structures. This locomotion mode is based on
    multi-module blocks. The upper layer plans the overall cluster motion
    called flow to realize locomotion along a given desired trajectory;
    the lower layer determines locally cooperative module motions, called
    motion schemes, based on a rule database. A planning simulation demonstrates
    that this approach effectively solves the complicated planning problem.
    Besides the fundamental motion capacity of the module, the hardware
    feasibility of the planning locomotion is verified through a self-reconfiguration
    experiment using the prototype modules we have developed.
    BibTeX:
    @article{Yoshida02IJRR,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {A Self-Reconfigurable Modular Robot : Reconfiguration Planning and Experiments},
      journal = {International Journal of Robotics Research},
      year = {2002},
      volume = {21},
      number = {10},
      pages = {903-916}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. A Motion Generation Method for a Modular Robot Journal of Robotics and Mechatronics
    Vol. 14(2), pp. 177-185 
    2002 article [PDF
    BibTeX:
    @article{Yoshida02JRM,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {A Motion Generation Method for a Modular Robot},
      journal = {Journal of Robotics and Mechatronics},
      year = {2002},
      volume = {14},
      number = {2},
      pages = {177-185}
    }
    
    Kamimura, A., Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. A Self-Reconfigurable Modular Robot (MTRAN) -Hardware and Motion Planning Software - Distributed Autonomous Robotic Systems 5, pp. 17-26  2002 incollection [PDF
    Note: DARS2002 Best Paper Award
    BibTeX:
    @incollection{Kamimura02DARS,
      author = {Akiya Kamimura and Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      editor = {Hajime Asama and Tamio Arai and Toshio Fukuda and Tsutomu Hasegawa},
      title = {A Self-Reconfigurable Modular Robot (MTRAN) -Hardware and Motion Planning Software -},
      booktitle = {Distributed Autonomous Robotic Systems 5},
      publisher = {Springer},
      year = {2002},
      pages = {17-26},
      note = {DARS2002 Best Paper Award}
    }
    
    Kurokawa, H., Kamimura, A., Yoshida, E., Tomita, K., Murata, S. & Kokaji, S. Self-Reconfigurable Modular Robot (M-TRAN) and its Motion Design Proceedings of 7th International Conference on Control, Automation, Robotics And Vision (ICARV 02), pp. 51-56  2002 inproceedings  
    BibTeX:
    @inproceedings{Kurokawa02ICARV,
      author = {Haruhisa Kurokawa and Akiya Kamimura and Eiichi Yoshida and Kohji Tomita and Satoshi Murata and Shigeru Kokaji},
      title = {Self-Reconfigurable Modular Robot (M-TRAN) and its Motion Design},
      booktitle = {Proceedings of 7th International Conference on Control, Automation, Robotics And Vision (ICARV 02)},
      year = {2002},
      pages = {51-56}
    }
    
    Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. Concept of Self-Reconfigurable Modular Robotic System Artificial Intelligence in Engineering
    Vol. 15(4), pp. 383-387 
    2001 article  
    BibTeX:
    @article{Murata01AIE,
      author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {Concept of Self-Reconfigurable Modular Robotic System},
      journal = {Artificial Intelligence in Engineering},
      year = {2001},
      volume = {15},
      number = {4},
      pages = {383-387}
    }
    
    Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. Self-Repairing Mechanical Systems Autonomous Robots
    Vol. 10(1), pp. 7-21 
    2001 article DOI URL  
    Abstract: This paper reviews several types of self-repairing systems developed
    in the Mechanical Engineering Laboratory. We have developed a modular
    system capable ofself-assemblyself-assemblyandandself-repair.self-repair.The
    former means a set of units can form a given shape of the system
    without outside help; the latter means the system restores the original
    shape if an arbitrary part of the system is cut off. We show both
    two-dimensional and three-dimensional unit designs, and distributed
    algorithms for the units.The former means a set of units can form
    a given shape of the system without outside help; the latter means
    the system restores the original shape if an arbitrary part of the
    system is cut off. We show both two-dimensional and three-dimensional
    unit designs, and distributed algorithms for the units.
    BibTeX:
    @article{Murata2001Auro,
      author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {Self-Repairing Mechanical Systems},
      journal = {Autonomous Robots},
      publisher = {Springer Netherlands},
      year = {2001},
      volume = {10},
      number = {1},
      pages = {7--21},
      url = {http://www.springerlink.com/content/wj4405r2p1758638/},
      doi = {http://doi.org/10.1023/A:1026540318188}
    }
    
    Yoshida, E., Murata, S., Kokaji, S., Tomita, K. & Kurokawa, H. Micro Self-Reconfigurable Modular Robot Using Shape Memory Alloy Journal of Robotics and Mechatronics
    Vol. 13(2), pp. 212-291 
    2001 article [PDF
    BibTeX:
    @article{Yoshida01JRM,
      author = {Eiichi Yoshida and Satoshi Murata and Shigeru Kokaji and Kohji Tomita and Haruhisa Kurokawa},
      title = {Micro Self-Reconfigurable Modular Robot Using Shape Memory Alloy},
      journal = {Journal of Robotics and Mechatronics},
      year = {2001},
      volume = {13},
      number = {2},
      pages = {212-291}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Motion Planning of Self-reconfigurable Modular Robot Experimental Robotics VII, Lecture Notes in Control and Information Sciences, pp. 384-394  2001 incollection [PDF
    BibTeX:
    @incollection{Yoshida01ISER,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      editor = {Daniela Rus and Sanjiv Singh},
      title = {Motion Planning of Self-reconfigurable Modular Robot},
      booktitle = {Experimental Robotics VII, Lecture Notes in Control and Information Sciences},
      publisher = {Springer},
      year = {2001},
      pages = {384-394}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Reconfiguration Planning for a Self-Assembling Modular Robot Proc. 2001 IEEE Int. Symp. on Assembly and Task Planning (ISATP2001), pp. 276-281  2001 inproceedings [PDF
    Note: Outstanding Paper Award Finalist
    BibTeX:
    @inproceedings{Yoshida01ISATP,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Reconfiguration Planning for a Self-Assembling Modular Robot},
      booktitle = {Proc. 2001 IEEE Int. Symp. on Assembly and Task Planning (ISATP2001)},
      year = {2001},
      pages = {276-281},
      note = {Outstanding Paper Award Finalist}
    }
    
    Kamimura, A., Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. Self-Reconfigurable Modular Robot - Experiments on Reconfiguration and Locomotion - Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 606-612  2001 inproceedings [PDF
    Abstract: We have proposed a self-reconfigurable robotic module, which has a
    very simple structure. The system is capable of not only building
    static structure but generating dynamic robotic motion. We also developed
    a simulator for motion planning. In this paper, we present details
    of the mechanical / electrical design of the developed module and
    its control system architecture. Experiments using ten modules demonstrate
    robotic configuration change, crawling locomotion and three types
    of quadruped locomotion.
    BibTeX:
    @inproceedings{Kamimura2001IROS,
      author = {Akiya Kamimura and Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {Self-Reconfigurable Modular Robot - Experiments on Reconfiguration and Locomotion -},
      booktitle = {Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2001},
      pages = {606-612}
    }
    
    Yoshida, E., Murata, S., Kamimura, A., Tomita, K., Kurokawa, H. & Kokaji, S. Reconfiguration Planning for a Self-Assembling Modular Robot Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 276-281  2001 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida01IROS,
      author = {Eiichi Yoshida and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Reconfiguration Planning for a Self-Assembling Modular Robot},
      booktitle = {Proc. 2001 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2001},
      pages = {276-281}
    }
    
    Yoshida, E., Kokaji, S., Murata, S., Kamimura, A., Tomita, K. & Kurokawa, H. Micro Self-reconfigurable Modular Robot: Implementation with Shape Memory Alloy Actuator Proceedings of The 3rd. IFToMM International Micromechanisms Symposium, pp. 8-12  2001 inproceedings  
    BibTeX:
    @inproceedings{Yoshida01IFToMM,
      author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Akiya Kamimura and Kohji Tomita and Haruhisa Kurokawa},
      title = {Micro Self-reconfigurable Modular Robot: Implementation with Shape Memory Alloy Actuator},
      booktitle = {Proceedings of The 3rd. IFToMM International Micromechanisms Symposium},
      year = {2001},
      pages = {8-12}
    }
    
    Yoshida, E. & Arai, T. Performance Analysis of Local Communication by Cooperating Mobile Robots IEICE Transactions on Communications
    Vol. E83B(5), pp. 1048-1059 
    2000 article [PDF
    BibTeX:
    @article{Yoshida00IEICE,
      author = {Eiichi Yoshida and Tamio Arai},
      title = {Performance Analysis of Local Communication by Cooperating Mobile Robots},
      journal = {IEICE Transactions on Communications},
      year = {2000},
      volume = {E83B},
      number = {5},
      pages = {1048-1059}
    }
    
    Yoshida, E., Kokaji, S., Murata, S., Tomita, K. & Kurokawa, H. Miniaturization of Self-reconfigurable Robotic System using Shape Memory Alloy Actuator Journal of Robotics and Mechatronics
    Vol. 12(2), pp. 96-102 
    2000 article  
    BibTeX:
    @article{Yoshida00JRM,
      author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa},
      title = {Miniaturization of Self-reconfigurable Robotic System using Shape Memory Alloy Actuator},
      journal = {Journal of Robotics and Mechatronics},
      year = {2000},
      volume = {12},
      number = {2},
      pages = {96-102}
    }
    
    Yoshida, E., Murata, S., Kokaji, S., Tomita, K. & Kurokawa, H. Micro Self-Reconfigurable Robotic System using Shape Memory Alloy Distributed Autonomous Robotic Systems 4, pp. 145-154  2000 incollection [PDF
    BibTeX:
    @incollection{Yoshida00DARS,
      author = {Eiichi Yoshida and Satoshi Murata and Shigeru Kokaji and Kohji Tomita and Haruhisa Kurokawa},
      editor = {Lynne E. Parker and George Bekey and Jacob Barhen},
      title = {Micro Self-Reconfigurable Robotic System using Shape Memory Alloy},
      booktitle = {Distributed Autonomous Robotic Systems 4},
      publisher = {Springer},
      year = {2000},
      pages = {145-154}
    }
    
    Murata, S., Yoshida, E., Tomita, K., Kurokawa, H., Kamimura, A. & Kokaji, S. Hardware Design of Modular Robotic System Proc. 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2210-2217  2000 inproceedings [PDF
    BibTeX:
    @inproceedings{Murata00IROS,
      author = {Satoshi Murata and Eiichi Yoshida and Kohji Tomita and Haruhisa Kurokawa and Akiya Kamimura and Shigeru Kokaji},
      title = {Hardware Design of Modular Robotic System},
      booktitle = {Proc. 2000 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {2000},
      pages = {2210--2217}
    }
    
    Murata, S., Yoshida, E., Kurokawa, H., Kokaji, S. & Tomita, K. Self-Reconfigurable Robot - Module Design and Simulation Proceedings of Intelligent Autonomous Systems 6, pp. 911-917  2000 inproceedings  
    BibTeX:
    @inproceedings{Murata00IAS,
      author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Shigeru Kokaji and Kohji Tomita},
      title = {Self-Reconfigurable Robot - Module Design and Simulation},
      booktitle = {Proceedings of Intelligent Autonomous Systems 6},
      year = {2000},
      pages = {911-917}
    }
    
    Tomita, K., Murata, S., Yoshida, E., Kurokawa, H., Kamimura, A. & Kokaji, S. Development of a Self-reconfigurable Modular Robotic System
    Vol. 4196Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III, pp. 469-476 
    2000 inproceedings  
    BibTeX:
    @inproceedings{Tomita00SPIE,
      author = {Kohji Tomita and Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Akiya Kamimura and Shigeru Kokaji},
      title = {Development of a Self-reconfigurable Modular Robotic System},
      booktitle = {Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems III},
      year = {2000},
      volume = {4196},
      pages = {469-476}
    }
    
    Yoshida, E., Kokaji, S., Murata, S., Tomita, K. & Kurokawa, H. Miniature Self-reconfigurable Modular Machine using Shape Memory Alloy Advanced Robotics
    Vol. 13(3), pp. 337-338 
    1999 article  
    BibTeX:
    @article{Yoshida99AR1,
      author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa},
      title = {Miniature Self-reconfigurable Modular Machine using Shape Memory Alloy},
      journal = {Advanced Robotics},
      year = {1999},
      volume = {13},
      number = {3},
      pages = {337-338}
    }
    
    Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. A Distributed Method for Reconfiguration of 3-D Homogeneous Structure Advanced Robotics
    Vol. 13(4), pp. 363-380 
    1999 article DOI [PDF
    BibTeX:
    @article{Yoshida99AR2,
      author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {A Distributed Method for Reconfiguration of 3-D Homogeneous Structure},
      journal = {Advanced Robotics},
      year = {1999},
      volume = {13},
      number = {4},
      pages = {363-380},
      doi = {http://doi.org/10.1163/156855399X00234}
    }
    
    Tomita, K., Murata, S., Kurokawa, H., Yoshida, E. & Kokaji, S. A Self-Assembly and Self-Repair Method for a Distributed Mechanical System IEEE Trans. on Robotics and Automation
    Vol. 15(6), pp. 1035-1045 
    1999 article [PDF
    BibTeX:
    @article{Tomita99TRA,
      author = {Kohji Tomita and Satoshi Murata and Haruhisa Kurokawa and Eiichi Yoshida and Shigeru Kokaji},
      title = {A Self-Assembly and Self-Repair Method for a Distributed Mechanical System},
      journal = {IEEE Trans. on Robotics and Automation},
      year = {1999},
      volume = {15},
      number = {6},
      pages = {1035-1045}
    }
    
    Yoshida, E., Murata, S., Tomita, K., Kurokawa, H. & Kokaji, S. An Experimental Study on a Self-repairing Modular Machine Robotics and Autonomous Systems
    Vol. 29(1), pp. 79-89 
    1999 article [PDF
    BibTeX:
    @article{Yoshida99RAS,
      author = {Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {An Experimental Study on a Self-repairing Modular Machine},
      journal = {Robotics and Autonomous Systems},
      year = {1999},
      volume = {29},
      number = {1},
      pages = {79-89}
    }
    
    Yoshida, E., Kokaji, S., Murata, S., Tomita, K. & Kurokawa, H. Miniaturized Self-reconfigurable System using Shape Memory Alloy Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1579-1585  1999 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida99IROS,
      author = {Eiichi Yoshida and Shigeru Kokaji and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa},
      title = {Miniaturized Self-reconfigurable System using Shape Memory Alloy},
      booktitle = {Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1999},
      pages = {1579-1585}
    }
    
    Murata, S., Yoshida, E., Tomita, K., Kurokawa, H. & Kokaji, S. Self-Reconfigurable Modular Robotic System Proceedings of International Workshop on Emergent Synthesis (IWES99), pp. 113-118  1999 inproceedings  
    BibTeX:
    @inproceedings{Murata99IWES,
      author = {Satoshi Murata and Eiichi Yoshida and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Self-Reconfigurable Modular Robotic System},
      booktitle = {Proceedings of International Workshop on Emergent Synthesis (IWES99)},
      year = {1999},
      pages = {113-118}
    }
    
    Murata, S., Yoshida, E., Kurokawa, H., Tomita, K. & Kokaji, S. Self-Repairing Mechanical System
    Vol. 3839Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems II, pp. 202-213 
    1999 inproceedings  
    BibTeX:
    @inproceedings{Murata99SPIE,
      author = {Satoshi Murata and Eiichi Yoshida and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {Self-Repairing Mechanical System},
      booktitle = {Proceedings of SPIE, Sensor Fusion and Decentralized Control in Robotic Systems II},
      year = {1999},
      volume = {3839},
      pages = {202-213}
    }
    
    Yoshida, E., Murata, S., Kurokawa, H., Kokaji, S. & Tomita, K. Self-Reconfiguration of 3-Dimensional Homogeneous Modular Structure Video Proc. 2009 IEEE Int Conf. Robotics and Automation  1999 inproceedings  
    BibTeX:
    @inproceedings{Yoshida99ICRAV,
      author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Shigeru Kokaji and Kohji Tomita},
      title = {Self-Reconfiguration of 3-Dimensional Homogeneous Modular Structure},
      booktitle = {Video Proc. 2009 IEEE Int Conf. Robotics and Automation},
      year = {1999}
    }
    
    Yoshida, E., Arai, T. & Ota, J. Local Communication of Multiple Mobile Robots: Design of Group Behavior for Efficient Communication Advanced Robotics
    Vol. 11(8), pp. 759-779 
    1998 article DOI [PDF
    BibTeX:
    @article{Yoshida98AR,
      author = {Eiichi Yoshida and Tamio Arai and Jun Ota},
      title = {Local Communication of Multiple Mobile Robots: Design of Group Behavior for Efficient Communication},
      journal = {Advanced Robotics},
      year = {1998},
      volume = {11},
      number = {8},
      pages = {759-779},
      doi = {http://doi.org/10.1163/156855398X00325}
    }
    
    Yoshida, E., Arai, T., Yamamoto, M. & Ota, J. Local Communication of Multiple Mobile Robots: Design of Optimal Communication Area for Cooperative Tasks Journal of Robotic Systems
    Vol. 15(7), pp. 407-419 
    1998 article [PDF
    BibTeX:
    @article{Yoshida98JRS,
      author = {Eiichi Yoshida and Tamio Arai and Masakazu Yamamoto and Jun Ota},
      title = {Local Communication of Multiple Mobile Robots: Design of Optimal Communication Area for Cooperative Tasks},
      journal = {Journal of Robotic Systems},
      year = {1998},
      volume = {15},
      number = {7},
      pages = {407-419}
    }
    
    Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. Experiment of Self-repairing Modular Machine Distributed Autonomous Robotics Systems 3, pp. 119-128  1998 inproceedings [PDF
    Note: DARS98 Best Paper Award
    BibTeX:
    @inproceedings{Yoshida98DARS,
      author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {Experiment of Self-repairing Modular Machine},
      booktitle = {Distributed Autonomous Robotics Systems 3},
      year = {1998},
      pages = {119-128},
      note = {DARS98 Best Paper Award}
    }
    
    Murata, S., Kurokawa, H., Yoshida, E., Tomita, K. & Kokaji, S. A 3-D Self-Reconfigurable Structure Proc. 1998 IEEE Int Conf. Robotics and Automation, pp. 432-439  1998 inproceedings [PDF
    BibTeX:
    @inproceedings{Murata98ICRA,
      author = {Satoshi Murata and Haruhisa Kurokawa and Eiichi Yoshida and Kohji Tomita and Shigeru Kokaji},
      title = {A 3-D Self-Reconfigurable Structure},
      booktitle = {Proc. 1998 IEEE Int Conf. Robotics and Automation},
      year = {1998},
      pages = {432-439}
    }
    
    Kurokawa, H., Murata, S., Yoshida, E., Tomita, K. & Kokaji, S. A 3-D Reconfigurable Structure and Experiments Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 860-865  1998 inproceedings  
    BibTeX:
    @inproceedings{Kurokawa98IROS,
      author = {Haruhisa Kurokawa and Satoshi Murata and Eiichi Yoshida and Kohji Tomita and Shigeru Kokaji},
      title = {A 3-D Reconfigurable Structure and Experiments},
      booktitle = {Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1998},
      pages = {860-865}
    }
    
    Yoshida, E., Murata, S., Kurokawa, H., Tomita, K. & Kokaji, S. A Distributed Reconfiguration Method for 3-D Homogeneous Structure Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 852-859  1998 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida98IROS,
      author = {Eiichi Yoshida and Satoshi Murata and Haruhisa Kurokawa and Kohji Tomita and Shigeru Kokaji},
      title = {A Distributed Reconfiguration Method for 3-D Homogeneous Structure},
      booktitle = {Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1998},
      pages = {852-859}
    }
    
    Yoshida, E., Murata, S., Tomita, K., Kurokawa, H. & Kokaji, S. Distributed Formation Control for a Modular Mechanical System Proc. 1997 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1090-1097  1997 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida97IROS,
      author = {Eiichi Yoshida and Satoshi Murata and Kohji Tomita and Haruhisa Kurokawa and Shigeru Kokaji},
      title = {Distributed Formation Control for a Modular Mechanical System},
      booktitle = {Proc. 1997 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1997},
      pages = {1090-1097}
    }
    
    Arai, T. & Yoshida, E. Design of Local Communication for Cooperation in Distributed Mobile Robot Systems Proc. 3rd Int. Symp. on Autonomous Decentralized Systems (ISADS 97), pp. 238-246  1997 inproceedings  
    BibTeX:
    @inproceedings{Arai97ISADS,
      author = {Tamio Arai and Eiichi Yoshida},
      title = {Design of Local Communication for Cooperation in Distributed Mobile Robot Systems},
      booktitle = {Proc. 3rd Int. Symp. on Autonomous Decentralized Systems (ISADS 97)},
      year = {1997},
      pages = {238-246}
    }
    
    Kurabayashi, D., Ota, J., Arai, T. & Yoshida, E. Cooperative Sweeping by Multiple Mobile Robots Proc. 1996 IEEE Int Conf. Robotics and Automation, pp. 1744-1749  1996 inproceedings  
    BibTeX:
    @inproceedings{Kura96ICRA,
      author = {Daisuke Kurabayashi and Jun Ota and Tamio Arai and Eiichi Yoshida},
      title = {Cooperative Sweeping by Multiple Mobile Robots},
      booktitle = {Proc. 1996 IEEE Int Conf. Robotics and Automation},
      year = {1996},
      pages = {1744-1749}
    }
    
    Miyata, N., Ota, J., Arai, T., Yoshida, E., Kurabayashi, D., Sasaki, J. & Aiyama, Y. Cooperative Transport with Regrasping of Torque-Limited Mobile Robots Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 304-309  1996 inproceedings  
    BibTeX:
    @inproceedings{Miyata96IROS,
      author = {Natsuki Miyata and Jun Ota and Tamio Arai and Eiichi Yoshida and Daisuke Kurabayashi and Jun Sasaki and Yasumichi Aiyama},
      title = {Cooperative Transport with Regrasping of Torque-Limited Mobile Robots},
      booktitle = {Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1996},
      pages = {304-309}
    }
    
    Yoshida, E., Ota, J., Arai, T., Yamamoto, M. & Kurabayashi, D. Evaluating the Efficiency of Local and Global Communication in Distributed Mobile Robotic Systems Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1661-1666  1996 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida96IROS,
      author = {Eiichi Yoshida and Jun Ota and Tamio Arai and Masakazu Yamamoto and Daisuke Kurabayashi},
      title = {Evaluating the Efficiency of Local and Global Communication in Distributed Mobile Robotic Systems},
      booktitle = {Proc. 1996 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1996},
      pages = {1661-1666}
    }
    
    Yamamoto, M., Yoshida, E., Arai, T., Ota, J. & Kurabayashi, D. Design of Local Communication Area in Multiple Mobile Robot System
    Vol. 4Proc. of Proceedings of the World Automation Congress (WAC '96), pp. 775-780 
    1996 inproceedings  
    BibTeX:
    @inproceedings{Yamamoto96WAC,
      author = {Masakazu Yamamoto and Eiichi Yoshida and Tamio Arai and Jun Ota and Daisuke Kurabayashi},
      title = {Design of Local Communication Area in Multiple Mobile Robot System},
      booktitle = {Proc. of Proceedings of the World Automation Congress (WAC '96)},
      year = {1996},
      volume = {4},
      pages = {775-780}
    }
    
    Sasaki, J., Ota, J., Yoshida, E., Kurabayashi, D. & Arai, T. Cooperating Grasping of a Large Object by Multiple Mobile Robots Proc. 1995 IEEE Int Conf. Robotics and Automation, pp. 1205-1210  1995 inproceedings  
    BibTeX:
    @inproceedings{Sasaki95ICRA,
      author = {Jun Sasaki and Jun Ota and Eiichi Yoshida and Daisuke Kurabayashi and Tamio Arai},
      title = {Cooperating Grasping of a Large Object by Multiple Mobile Robots},
      booktitle = {Proc. 1995 IEEE Int Conf. Robotics and Automation},
      year = {1995},
      pages = {1205-1210}
    }
    
    Arai, T., Yoshida, E., Miki, T. & Ota, J. A Study on Group Behavior for Efficient Local Communication in Distributed Mobile Robot System Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics, pp. 3292-3297  1995 inproceedings  
    BibTeX:
    @inproceedings{Arai95SMC1,
      author = {Tamio Arai and Eiichi Yoshida and Tomoyoshi Miki and Jun Ota},
      title = {A Study on Group Behavior for Efficient Local Communication in Distributed Mobile Robot System},
      booktitle = {Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics},
      year = {1995},
      pages = {3292-3297}
    }
    
    Arai, T., Ota, J., Yoshida, E. & Kurabayashi, D. Acquisition and Utilization of Motion Skills Planning of Multiple Mobile Robots Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics, pp. 3712-3717  1995 inproceedings  
    BibTeX:
    @inproceedings{Arai95SMC2,
      author = {Tamio Arai and Jun Ota and Eiichi Yoshida and Daisuke Kurabayashi},
      title = {Acquisition and Utilization of Motion Skills Planning of Multiple Mobile Robots},
      booktitle = {Proc. 1995 IEEE Int. Confe. on Systems, Man and Cybernetics},
      year = {1995},
      pages = {3712-3717}
    }
    
    Kurabayashi, D., Ota, J., Arai, T. & Yoshida, E. An Algorithm of Dividing a Work Area to Multiple Mobile Robots Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 286-291  1995 inproceedings  
    BibTeX:
    @inproceedings{Kura95IROS,
      author = {Daisuke Kurabayashi and Jun Ota and Tamio Arai and Eiichi Yoshida},
      title = {An Algorithm of Dividing a Work Area to Multiple Mobile Robots},
      booktitle = {Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1995},
      pages = {286-291}
    }
    
    Ota, J., Miyata, N., Arai, T., Yoshida, E., Kurabayashi, D. & Sasaki, J. Transferring and Regrasping a Large Object by Cooperation of Multiple Mobile Robots Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 543-548  1995 inproceedings  
    BibTeX:
    @inproceedings{Ota95IROS,
      author = {Jun Ota and Natsuki Miyata and Tamio Arai and Eiichi Yoshida and Daisuke Kurabayashi and Jun Sasaki},
      title = {Transferring and Regrasping a Large Object by Cooperation of Multiple Mobile Robots},
      booktitle = {Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1995},
      pages = {543-548}
    }
    
    Yoshida, E., Yamamoto, M., Arai, T., Ota, J. & Kurabayashi, D. A Design Method of Local Communication Range in Multiple Mobile Robot System Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 274-279  1995 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida95IROS,
      author = {Eiichi Yoshida and Masakazu Yamamoto and Tamio Arai and Jun Ota and Daisuke Kurabayashi},
      title = {A Design Method of Local Communication Range in Multiple Mobile Robot System},
      booktitle = {Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1995},
      pages = {274-279}
    }
    
    Yoshida, E., Yamamoto, M., Arai, T., Ota, J. & Kurabayashi, D. A Design Method of Local Communication Area in Multiple Mobile Robot System Proc. 2009 IEEE Int Conf. Robotics and Automation, pp. 2567-2572  1995 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida95ICRA,
      author = {Eiichi Yoshida and Masakazu Yamamoto and Tamio Arai and Jun Ota and Daisuke Kurabayashi},
      title = {A Design Method of Local Communication Area in Multiple Mobile Robot System},
      booktitle = {Proc. 2009 IEEE Int Conf. Robotics and Automation},
      year = {1995},
      pages = {2567-2572}
    }
    
    Yoshida, E., Arai, T., Ota, J. & Miki, T. Effect of Grouping in Local Communication System of Multiple Mobile Robots Proc. 1994 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 808-815  1994 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida94IROS,
      author = {Eiichi Yoshida and Tamio Arai and Jun Ota and Tomoyoshi Miki},
      title = {Effect of Grouping in Local Communication System of Multiple Mobile Robots},
      booktitle = {Proc. 1994 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
      year = {1994},
      pages = {808-815}
    }
    
    Arai, T., Yoshida, E. & Ota, J. Information Diffusion by Local Communication of Multiple Mobile Robots Proc. 1993 IEEE Int. Confe. on Systems, Man and Cybernetics, pp. 535-540  1993 inproceedings [PDF
    BibTeX:
    @inproceedings{Yoshida93SMC,
      author = {Tamio Arai and Eiichi Yoshida and Jun Ota},
      title = {Information Diffusion by Local Communication of Multiple Mobile Robots},
      booktitle = {Proc. 1993 IEEE Int. Confe. on Systems, Man and Cybernetics},
      year = {1993},
      pages = {535-540}
    }
    

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