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Mitsuharu Morisawa
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Publications
- 2022
- [c70]Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro:
Reachability Based Trajectory Generation Combining Global Graph Search in Task Space and Local Optimization in Configuration Space. IROS 2022: 4513-4520 - 2021
- [j16]Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar:
Humanoid Loco-Manipulation Planning Based on Graph Search and Reachability Maps. IEEE Robotics Autom. Lett. 6(2): 1840-1847 (2021) - [j15]Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar:
Humanoid Loco-Manipulations Pattern Generation and Stabilization Control. IEEE Robotics Autom. Lett. 6(3): 5597-5604 (2021) - [j14]Iori Kumagai, Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro:
Multi-Contact Locomotion Planning With Bilateral Contact Forces Considering Kinematics and Statics During Contact Transition. IEEE Robotics Autom. Lett. 6(4): 6654-6661 (2021) - 2020
- [j11]Iori Kumagai, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Fumio Kanehiro:
On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory. Int. J. Humanoid Robotics 17(1): 1950035:1-1950035:29 (2020) - [j10]Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro:
Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact. Int. J. Humanoid Robotics 17(1): 2050003:1-2050003:28 (2020) - [j8]Iori Kumagai, Mitsuharu Morisawa, Shizuko Hattori, Mehdi Benallegue, Fumio Kanehiro:
Multi-Contact Locomotion Planning for Humanoid Robot Based on Sustainable Contact Graph With Local Contact Modification. IEEE Robotics Autom. Lett. 5(4): 6379-6387 (2020) - 2019
- [j7]Kenji Kaneko, Hiroshi Kaminaga, Takeshi Sakaguchi, Shuuji Kajita, Mitsuharu Morisawa, Iori Kumagai, Fumio Kanehiro:
Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints. IEEE Robotics Autom. Lett. 4(2): 1431-1438 (2019) - [j6]Iori Kumagai, Fumio Kanehiro, Mitsuharu Morisawa, Takeshi Sakaguchi, Shinichiro Nakaoka, Kenji Kaneko, Hiroshi Kaminaga, Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros:
Toward Industrialization of Humanoid Robots: Autonomous Plasterboard Installation to Improve Safety and Efficiency. IEEE Robotics Autom. Mag. 26(4): 20-29 (2019) - [c67]Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros Limón, Takeshi Sakaguchi, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro:
Position-Based Lateral Balance Control for Knee-Stretched Biped Robot. Humanoids 2019: 17-24 - [c66]Iori Kumagai, Mitsuharu Morisawa, Mehdi Benallegue, Fumio Kanehiro:
Bipedal Locomotion Planning for a Humanoid Robot Supported by Arm Contacts Based on Geometrical Feasibility. Humanoids 2019: 132-139 - [c64]Mitsuharu Morisawa, Mehdi Benallegue, Rafael Cisneros Limón, Iori Kumagai, Adrien Escande, Kenji Kaneko, Fumio Kanehiro:
Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces. IROS 2019: 2252-2258 - 2018
- [c63]Mitsuharu Morisawa, Rafael Cisneros, Mehdi Benallegue, Iori Kumagai, Adrien Escande, Fumio Kanehiro:
Online 3D CoM Trajectory Generation for Multi-Contact Locomotion Synchronizing Contact. Humanoids 2018: 1-8 - [c62]Shuuji Kajita, Mehdi Benallegue, Rafael Cisneros, Takeshi Sakaguchi, Shinichiro Nakaoka, Mitsuharu Morisawa, Hiroshi Kaminaga, Iori Kumagai, Kenji Kaneko, Fumio Kanehiro:
Biped Gait Control Based on Spatially Quantized Dynamics. Humanoids 2018: 75-81 - [c61]Iori Kumagai, Mitsuharu Morisawa, Shinichiro Nakaoka, Fumio Kanehiro:
Efficient Locomotion Planning for a Humanoid Robot with Whole-Body Collision Avoidance Guided by Footsteps and Centroidal Sway Motion. Humanoids 2018: 251-256 - [c58]Iori Kumagai, Mitsuharu Morisawa, Shinichiro Nakaoka, Takeshi Sakaguchi, Hiroshi Kaminaga, Kenji Kaneko, Fumio Kanehiro:
Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints. IROS 2018: 713-719
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