Kensuke Harada's Webpage

産総研

For the achivements after 2016, please visit our laboratory page.



Thesis

1. Doctor
Trajectory Control of Manipulators with Flexibility, Kyoto University, 1997

2．Master
Hybrid Position/Force Control of 2DOF Flexible Manipulators, Kyoto University, 1994

Int. J.
  • Tsuneo Yoshikawa, Kensuke Harada, and Atsushi Matsumoto, "Hybrid Position/Force Control of Flexible-Macro/Rigid-Micro Manipulator Systems," IEEE Trans. on Robotics and Automation, vol. 12, no. 4, pp. 633-639, 1996.
  • Kensuke Harada, Makoto Kaneko, and Toshio Tsuji, "Rolling Based Manipulation for Multiple Objects," IEEE Transactions on Robotics and Automation," vol. 16, no. 5, pp. 457-468, 2000.
  • Kensuke Harada, Makoto Kaneko, and Toshio Tsuji, "Active Force Closure for Multiple Objects," Journal of Robotic Systems, vol. 19, no. 3, pp. 133-141, 2002.
  • Kensuke Harada and Makoto Kaneko, "A Sufficient Condition for Manipulation of Envelope Family," IEEE Transactions on Robotics and Automation, vol. 18, no. 4, pp. 597-607, 2002
  • Kensuke Harada, Taiga Kawashima, and Makoto Kaneko, "Rolling Based Manipulation under Neighborhood Equilibrium," International Journal of Robotics Research, vol. 21, no. 5-6, pp. 463-474, 2002.
  • Kensuke Harada, Jun Nishiyama, Yoshihiro Murakami, and Makoto Kaneko, "Pushing Manipulation for Multiple Objects," Transactions of ASME, Journal of Dynamic Systems, Measurement and Control, vol. 128, no. 2, pp. 422-427, 2006.
  • Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Hirohisa Hirukawa, "Dynamics and Balance of a Humanoid Robot during Manipulation Tasks," IEEE Transations on Robotics, vol. 22, no. 3, pp. 568-575, 2006.
  • Kensuke Harada, Shuuji Kajita, Kenji Kaneko, and Hirohisa Hirukawa, "An Analytical Method on Real-time Gait Planning for a Humanoid Robot," Journal of Humanoid Robotics, vol. 3, no. 1, pp. 1-19, 2006.
  • Eiichi Yoshida, Pierre Blazevic, Vincent Hugel, Kazuhito Yokoi, and Kensuke Harada, "Pivoting a Large Object: Whole-body Manipulation by a Humanoid Robot," Applied Bionics and Biomechanics, vol. 3, no. 3, pp. 227-235, 2006.
  • Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa, "Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation," IEEE/ASME Transactions on Mechatronics, vol. 12, no. 1, pp. 53-62, 2007.
  • Kris Hauser, Timothy Bretl, Jean-Claude Latombe, Kensuke Harada, and Brian Wilcox, "Motion Planning for Legged Robots on Varied Terrain," International Journal of Robotics Research, vol. 27, no. 11-12, pp. 1325-1349, 2008.
  • Kensuke Harada, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kenji Kaneko, and Shuuji Kajita, "Kinodynamic Planning for Humanoid Robots walking on Uneven Terrain," Journal of Robotics and Mechatronics，vol. 21, no. 3, pp. 311-316, 2009.
  • Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, and Ken'ichi Maruyama, "Grasp Planning for a Multifingered Hand with a Humanoid Robot," Journal of Robotics and Mechatronics, vol. 22, no. 2, pp. 230-238, 2010.
  • Kensuke Harada, Shizuko Hattori, Hirohisa Hirukawa, Mitsuharu Morisawa, Shuuji Kajita, Eiichi Yoshida, "Two-Stage Time-Parametrized Gait Planning for Humanoid Robots," IEEE/ASME Transations on Mechatronics, vol. 15, no. 5, pp. 694-703, 2010.
  • Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, and Ken'ichi Maruyama, "Grasp Planning for a Humanoid Hand," InTech - The Future of Humanoid Robots - Research and Applications，pp.63-80, 2012.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, and Yoshihiro Kawai, "Towards Snap Sensing," International Journal of Mechatronics and Automation, vol. 3, no. 2, pp. 69-93, 2013.
  • Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, and Hiromu Onda, "Validating an Object Placement Planner for Robotic Pick-and-Place Tasks," Journal of Robotics and Autonomous Systems, vol. 62, pp. 1463-1477, 2014.
  • Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, and Natsuki Yamanobe, "Error Recovery Using Task Stratification and Error Classification for Manipulation Robots in Physical Distribution," TSEST Transactions on Control and Mechanical Systems, vol. 3, no. 15, pp. 122-131, 2014.
  • Ryo Hanai, Hisashi Suzuki, Yoshihiro Nakabo, and Kensuke Harada, "Modeling Development Process of Skill-based System for Human-like Manipulation Robot," Advanced Robotics, 2016.
  • Weiwei Wan and Kensuke Harada, "Developing and Comparing Single-arm and Dual-arm Regrasp," Robotics and Automation Letter, vol. 1, no. 1, pp. 243-250, 2016.
  • Kensuke Harada, Kazuyuki Nagata, Juan Rojas, Ixchel Ramirez-Alpizar, Weiwei Wan, Hiromu Onda, and Tokuo Tsuji, "Proposal of a Shape Adaptive Gripper for Robotic Assembly Tasks," Advanced Robotics, 2016. (To appear)
  • Weiwei Wan and Kensuke Harada, "Achieving High Success Rate in Dual-arm Handover Using Large Number of Candidate Grasps, Handover Heuristics, and Hierarchical Search," Advanced Robotics, 2016. (To appear)
Domestic J.
  • 吉川恒夫，原田研介，松本淳，村上弘記，"マクロ-マイクロシステムによるフレキシブルアームの位置と力の準静的ハイブリッド制御," 計測自動制御学会論文集，vol. 31, no. 8, pp. 1129-1135, 1995.
  • 原田研介，吉川恒夫，"フレキシブルアームの動的軌道制御における内部安定化," 日本ロボット学会誌, vol. 14, no. 3, pp. 444-453, 1996.
  • 吉川恒夫，原田研介，細田耕，市川雅司，"柔軟関節を持つ直交型ロボット機構の軌道制御," 日本機械学会論文集(C編), vol. 63, no. 612, pp. 2801-2807, 1997.
  • 原田研介，吉川恒夫，"マクロ-マイクロシステムによるフレキシブルアームの 動的な位置と力のハイブリッド制御における内部安定化," 日本機械学会論文集(C編), vol. 64, no. 620, pp. 1327-1332, 1998.
  • 原田研介，金子真，"複数対象物体の包み込み把握-運動学とすくい上げ条件-," 日本ロボット学会誌, vol. 16, no. 6, pp. 860-867, 1998.
  • 原田研介，金子真，"重力場における複数対象物の平衡把握とそのロバスト性," 日本ロボット学会誌, vol. 17, no. 1, pp. 133-139，1999.
  • 原田研介，金子真，古寺晃司，辻敏夫，"複数対象物のActive Force Closure," 日本ロボット学会誌, vol. 17, no. 8, pp. 1158-1166，1999.
  • 辻敏夫，赤松寛優，原田研介，金子真，"ニューラルネットによるロボットインピーダンスのオンライン学習," 日本ロボット学会誌, vol. 17, no. 2, pp. 234-241, 1999.
  • 原田研介，中野慎也，金子真，辻敏夫，"複数対象物の操り," 日本ロボット学会誌, vol. 18, no. 2, pp. 236-243, 2000.
  • 野口祐史，辻敏夫，原田研介，金子真，"ニューラルネットによる非接触型インピーダンス制御のパラメータ学習," 日本ロボット学会誌, vol. 18, no. 4, pp. 561-568, 2000
  • 金子真，沖本越，原田研介，辻敏夫，"多角錐物体の平衡把握アルゴリズム," 日本ロボット学会誌, vol.18, no.1, pp.126-134, 2000.
  • 金子真，原田研介，辻敏夫，"Envelope Family 操りの十分条件," 日本ロボット学会誌, vol. 19, no. 7, pp. 863-873, 2001.
  • 原田研介，金子真，"重力平衡する対象物の転がりによる操り," 日本ロボット学会誌, vol. 20, no. 2, pp. 164-172, 2002.
  • 白井達也，金子真，原田研介，辻敏夫，"対象物の引き剥がし支援動作（ＤＡＭ）の発見とロボットハンドへの応用," 日本ロボット学会誌, vol. 20, no. 1, pp. 57-64, 2002.
  • 金子真，佐嶋俊彦，原田研介，辻敏夫，"触覚微分器," 日本機械学会誌（C編）, vol. 68, no. 666, pp. 99-105, 2002.
  • 原田研介，西山淳，村上義博，金子真，"複数対象物のPushing Manipulation," 日本機械学会誌(C編), vol. 69, no. 677, pp. 195-203, 2003.
  • 原田研介，金子真，"人間型ロボット機構の全身マニピュレーションにおける動作内力解析," 日本ロボット学会誌, vol. 21, no. 7, pp.647-655, 2003.
  • 原田研介，梶田秀司，金広文男，藤原清司，金子健二，横井一仁，比留川博久，"ヒューマノイドロボットの脚腕協調におけるZMP解析," 日本ロボット学会誌, vol. 22, no. 1, pp. 28-36, 2004.
  • 原田研介，梶田秀司，金広文男，藤原清司，金子健二，横井一仁，比留川博久，"ヒューマノイドロボットによる押し操作における歩行動作," 日本ロボット学会誌, vol. 22, no. 3, pp. 112-119, 2004.
  • 金広文男，金子健二，藤原清司，原田研介，梶田秀司，横井一仁，比留川博久，赤地，五十棲，" ヒューマノイドの転倒回復機能の実現," 日本ロボット学会誌, vol. 22, no. 1, pp. 37-45, 2004.
  • 梶田秀司，金広文男，金子健二，藤原清司，原田研介，横井一仁，比留川博久，"分解運動量制御：運動量と角運動量に基づくヒューマノイドロボットの全身運動生成," 日本ロボット学会誌, vol. 22, no. 6, pp. 772-779, 2004.
  • 原田研介，梶田秀司，森澤光晴，金広文男，藤原清司，金子健二，比留川博久，"ヒューマノイドロボットの実時間歩容計画における解析的アプローチ," 日本ロボット学会誌, vol. 23, no. 6, pp. 752-760, 2005.
  • 原田研介，梶田秀司，金広文男，藤原清司，金子健二，横井一仁，比留川博久， "力制御型マニピュレーションにもとづくヒューマノイドロボットの実時間歩容計画," 日本機械学会論文集(C編), vol. 71, no. 711, pp. 3181-3188, 2005.
  • 藤原清司，金広文男，梶田秀司，横井一仁，斉藤，原田研介，比留川博久，"等身大のヒューマノイドロボットの後方転倒制御の実現," 日本ロボット学会誌, vol. 23, no. 4, pp. 427-434, 2005.
  • 渡辺哲陽, 原田研介, 江鐘偉, 吉川恒夫, "能動受動混合拘束の力学," 日本ロボット学会誌, vol. 24, no. 1, pp. 131-139, 2006.
  • 金子健二，金広文男，森澤光晴，梶田秀司，藤原清司，原田研介，比留川博久， "ヒューマノイドの動作一時停止システム（実時間動作一時停止判断と実時間パターン修正）," 日本ロボット学会誌, vol. 25, no. 2, pp. 289-298, 2007.
  • 渡辺哲陽, 原田研介, 江, 鐘偉 吉川恒夫, "能動受動混合拘束下での物体操作," 日本ロボット学会誌, vol. 25, no. 4, pp. 159-166, 2007.
  • 原田研介，服部静子，比留川博久，森澤光晴，梶田秀司，吉田英一， "動歩行するヒューマノイドロボットの干渉回避計画," 日本機会学会誌(C編), vol. 74, no. 745, pp. 2272-2280, 2008.
  • 金子健二，原田研介，金広文男，"等身大ヒューマノイドロボット用多指ハンドの開発," 日本ロボット学会誌，vol. 26, no.1，pp.98-109, 2008.
  • 森澤光晴, 梶田秀司, 金子健二, 金広文男, 中岡慎一郎, 原田研介, 藤原清司, 比留川博久， "極配置法によるヒューマノイドロボットの両脚期における緊急停止動作生成," 日本ロボット学会誌, vol. 26, no. 4, pp. 41-50, 2008.
  • 金子健二, 原田研介, 金広文男, 木村勉, 宮森剛, 赤地一彦， "ヒューマノイドロボット HRP-3の開発," 日本ロボット学会誌, vol. 26, no. 6, pp. 658-666, 2008.
  • 原田研介, 辻徳生, 金子健二, 金広文男, 丸山健一， "直方体モデルに基づく多指ハンドの把握計画," 日本機械学会論文集(C編), vol. 76, no. 762, pp. 331-339, 2010.
  • 原田研介，森澤光晴，三浦郁奈子，中岡慎一郎，金子健二，梶田秀司， "ヒューマノイドロボットの全身動作と足の着地位置の同時計画," 日本機械学会論文集(C編), vol. 76, no. 770, pp. 334-341, 2010.
  • 金子健二，金広文男，森澤光晴，三浦郁奈子，中岡慎一郎，原田研介，梶田秀司，"サイバネティックヒューマンHRP-4Cの開発," 日本ロボット学会誌, vol. 28, no. 7, pp. 853-864, 2010.
  • 三浦郁奈子，中岡慎一郎，金広文男，原田研介，金子健二，横井一仁，梶田秀司，"足裏の滑りを利用した２足歩行ロボットの方向転換 ―滑り現象のモデル化と回転角の予測―," 日本ロボット学会誌, vol. 28, no. 10, pp. 84-94, 2010.
  • 辻徳生，原田研介，金子健二，"摩擦円すいの楕円体近似を用いた把持安定性の高速評価," 日本ロボット学会誌, vol. 29, no. 3, pp. 278-287, 2011.
  • 原田研介, Foissotte Torea, 辻徳生, 永田和之, 山野辺夏樹, 中村晃, 河井良浩, "双腕を有するロボットによるピックアンドプレースの動作計画," 日本機械学会論文集（C編）, vol. 78, no. 792, pp. 151-164, 2012.
  • 原田研介, 辻徳生, 永田和之, 山野辺夏樹, 丸山健一, 中村晃, 河井良浩, "把持面の柔軟性を考慮したパラレルグリッパの把持計画," 計測自動制御学会論文集, vol. 48, no. 7, pp. 364-372, 2012.
  • 原田研介, 辻徳生, 永田和之, 山野辺夏樹, 音田弘, 河井良浩, "ロボットによるピックアンドプレースのための対象物配置計画," 計測自動制御学会論文集, vol. 49, no. 9, pp. 823-831, 2013.
  • 原田研介, 辻徳生, 藤平祥孝, 渡辺哲陽, 宇都宗一郎, 山野辺夏樹, 永田和之, 北垣高成, "接触面を考慮したソフトフィンガ型把持の安定性評価," 計測自動制御学会論文集, vol. 51, no. 2, pp. 83-91, 2015.
  • 原田研介, 辻徳生, 菊地宏平, 永田和之, 音田弘, 河井良浩, "移動マニピュレータによるピッキング作業のための台車位置計画," 日本ロボット学会誌, vol. 33, no. 5, pp. 355-361, 2015.
  • 西卓郎, 岡野仁, 原田祐次, 吉見隆, 原田研介, 喜多泰代, 永田和之, 山野辺夏樹,植芝俊夫, 佐藤雄隆, 増田健, 高瀬竜一, 永見武司, 河井良浩, 中村修, "ビンピッキング用ハンドアイシステムの開発―バラ積み物体検出位置姿勢推定アルゴリズムの評価手法―," 日本ロボット学会誌, vol. 33, no. 7, pp. 538-547, 2015.
  • 永田和之，新良貴陽平，原田研介，山野辺夏樹，中村晃，佐藤大祐，金宮好和，"知識モデルを用いた日用品のセマンティック把持," 日本機械学会論文集, vol. 81, no. 829, 15-00227, 2015.
Proceedings
  • Tsuneo Yoshikawa, Koh Hosoda, Kensuke Harada, Masashi Ichikawa, "Trajectory Control of Cartesian Type Industrial Manipulators with Flexible Joints," Proceedings of IEEE/RSJ International. Conference on Intelligent Robots and Systems, pp. 14-21, 1993.
  • Tsuneo Yoshikawa, Koh Hosoda, Kensuke Harada, Atsushi Matsumoto, Hiroki Murakami, "Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System," Proceedings of 1994 IEEE International. Conference on Robotics and Automation, pp. 2125-2130, 1994.
  • Tsuneo Yoshikawa, Kensuke Harada, Hiroki Murakami, "Dynamic Hybrid Position/Force Control of Flexible Manipulators by Macro-Micro Manipulator System," Proceedings of Japan-USA Symposium on Flexible Automation, pp. 65-72, 1994.
  • Kensuke Harada and Tsuneo Yoshikawa. "Internal Stabilization in Dynamic Trajectory Control of Flexible Manipulators," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 252-259, 1996.
  • Kensuke Harada and Makoto Kaneko, "Enveloping Grasp for Multiple Objects," Proceedings of IEEE International Conference on Robotics and Automation, pp. 2409-2415, 1998.
  • Kensuke Harada and Makoto Kaneko, "Kinematics and Internal Force in Grasping Multiple Objects," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 298-303, 1998.
  • Tatsuya Shirai, Makoto Kaneko, Kensuke Harada, and Toshio Tsuji, "Scale-Dependent Grasps," Proceedings of International Conference on Advanced Mechatronics, pp. 197-202, 1998.
  • Makoto Kaneko, M.Higashimori, Kensuke Harada and Toshio Tsuji, "Evaluation on Transition Stability of Enveloped Objects Using Force-flow Diagram," Proceedings of 6th IASTED International Conference Robotics and Manufacturing, pp. 222-227, 1998.
  • Makoto Kaneko, M.Kessler, Kensuke Harada, and Toshio Tsuji, "Necessary and Sufficient Number of Fingers for Capturing Pyramidal-like Objects," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 134-139, 1998.
  • Kensuke Harada and Tsuneo Yoshikawa, "Precise Hybrid Position/Force Control with Stabilization of Flexible-Macro/Rigid-Micro Manipulators," Proceedings of IASTED International Conference on Robotics and Applications, pp. 198-203, 1999.
  • Kensuke Harada and Makoto Kaneko, "Experimental Validation on Enveloping Multiple Objects," Proceedings of International Conference on Advanced Robotics, pp. 161-166, 1999.
  • Tatsuya Shirai, Makoto Kaneko, Kensuke Harada, and Toshio Tsuji, "Enveloping Grasp with a New Detaching Strategy," Proceedings of International Conference on Advanced Robotics, pp. 167-172, 1999.
  • Kensuke Harada, Makoto Kaneko, and Toshio Tsuji, "Rolling Based Manipulation for Multiple Objects," Proceedings of IEEE International Conference on Robotics and Automation, pp. 3888-3895, 2000.
  • Kensuke Harada and Makoto Kaneko, "Neighborhood Equilibrium Grasp for Multiple Objects," Proceedings of IEEE International Conference on Robotics and Automation, pp. 2159-2164, 2000.
  • Kensuke Harada, Makoto Kaneko, and Toshio Tsuji, "Active Force Closure for Multiple Objects," J. Lenarcic and M.M. Stancic eds., Advances in Robot Kinematics, Kluwer Academic Press, pp. 155-164, 2000.
  • Kensuke Harada, Shinya Nakano, Makoto Kaneko, and Toshio Tsuji, "Manipulation of Enveloped Multiple Objects," Proceedings of IEEE International Conference on Industrial Electronics, Control and Instrumentation, pp. 422-427, 2000.
  • Makoto Kaneko, Kensuke Harada, and Toshio Tsuji, "A Sufficient Condition for Manipulation of Envelope Family," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1060-1067, 2000.
  • Kensuke Harada, Taiga Kawashima, and Makoto Kaneko, " Experiments on Manipulation under Neighborhood Equilibrium," Proceedings of 32th International Symposium on Robotics, 2001.
  • Kensuke Harada and Makoto Kaneko, "Rolling Based Manipulation under Neighborhood Equilibrium," Proceedings of IEEE International Conference on Robotics and Automation, pp. 2492-2498, 2001.
  • Kensuke Harada, Jonghoon Park, and Makoto Kaneko, "Manipulation of Enveloped Object with Elasticity at Contact Points," Proceedings of IEEE International Symposium on Assembly and Task Planning, pp. 190-195, 2001.
  • Jonghoon Park, Kensuke Harada, and Makoto Kaneko, "Enveloping Grasp Feasibility Inequality," Proceedings of IEEE International Conference on Robotics and Automation, pp. 2210-2216, 2001.
  • Makoto Kaneko, Tatsuya Shirai, Kensuke Harada, and Toshio Tsuji, "Analysis of Detaching Assist Motion(DAM)," Proceedings of IEEE International Conference on Robotics and Automation, pp. 3028-3033, 2001.
  • Jonghoon Park, Kensuke Harada, and Makoto Kaneko, "Analysis of Frictional Forces in Indeterminate Enveloping Grasps," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1882-1887, 2001.
  • Toshio Tsuji, Kensuke Harada, and Makoto Kaneko, "A Neuro-based Adaptive Training Method for Robotic Rehabilitation Aids," Proceedings of 2001 IEEE International Conference on Robotics and Automation, pp. 3680-3685, 2001.
  • Makoto Kaneko, Akihiko Mizuno, Kensuke Harada, and Toshio Tsuji, "Gait Transition from Foot Tip to Hugging Walk," Proceedings of IFAC Workshop on Mobile Robot Technology, 2001.
  • Kensuke Harada, Jun Nishiyama, Yoshihiro Murakami, and Makoto Kaneko, "Pushing Multiple Objects using Equivalent Friction Center," Proceedings of 2002 IEEE International Conference on Robotics and Automation, pp. 2485-2491, 2002.
  • Kensuke Harada and Makoto Kaneko, "Manipulation of 3D Enveloped Object," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1619-1625, 2002.
  • Makoto Kaneko, Akihiko Mizuno, Kensuke Harada, "Torque Distribution for Achieving a Hugging Walk," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2613-2618, 2002.
  • Makoto Kaneko, Kensuke Harada, and Toshio Tsuji, "Dynamic Friction Closure," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1584-1589, 2002.
  • Kensuke Harada and Makoto Kaneko, "Whole Body Manipulation," Proceedings of IEEE International Conference on Robotics, Intelligent Systems, and Signal Processing, 2003.
  • Kensuke Harada, Shuuji Kajita, Kenji Kaneko, and Hirohisa Hirukawa, "Pushing Manipulation by Humanoid considering Two-Kinds of ZMPs," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1627-1632, 2003.
  • Kensuke Harada, Shuuji Kajita, Kenji Kaneko, and Hirohisa Hirukawa, "ZMP Analysis for Arm/Leg Coordination," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 75-81, 2003.
  • Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Shuuji Kajita, Kazuhito Yokoi, Hirohisa Hirukawa, K. Akachi, and T. Isozumi, "The First Humanoid Robot that has the Same Size as a Human and that can Lie down and Get up," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1633-1639, 2003.
  • Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, and Hirohisa Hirukawa, "Biped Walking Pattern Generation by using Preview Control of Zero-Moment Point," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1620-1626, 2003.
  • Hirohisa Hirukawa, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kazuhito Yokoi, Kenji Kaneko, and Kensuke Harada, "Experimental Evaluation of the Dynamic Simulation of Biped Walking of Humanoid Robots," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1640-1645, 2003.
  • Kiyoshi Fujiwara, Fumio Kanehiro, Shuuji Kajita, Kazuhito Yokoi, Hajime Saito, Kensuke Harada, Kenji Kaneko, and Hirohisa Hirukawa, "The First Human-size Humanoid that can Fall-over Safely and Stand-up Again," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1920-1926, 2003.
  • Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, and Hirohisa Hirukawa: "Resolved Momentum Control: Humanoid Motion Planning based on the Linear and Angular Momentum," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1644-1650, 2003.
  • Kensuke Harada, Shuuji Kajita, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Kazuhito Yokoi, and Hirohisa Hirukawa, "Real-Time Planning of Humanoid Robot's Gait for Force Controlled Manipulation," Proceedings of IEEE International Conference on Robotics and Automation, pp. 616-622, 2004.
  • Kensuke Harada, Hirohisa Hirukawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, Shuuji Kajita, and Masaru Nakamura, "Dynamical Balance of a Humanoid Robot Grasping an Environment," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1167-1173, 2004.
  • Kensuke Harada, Hirohisa Hirukawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, and Shuuji Kajita, "Experiments on Dynamical Balance of a Humanoid Robot Grasping an Environment," Proceedings of International Conference on Advanced Mechatronics, pp. 229-234, 2004.
  • Kensuke Harada, Shuuji Kajita, Kenji Kaneko, and Hirohisa Hirukawa, "An Analytical Method on Real-time Gait Planning for a Humanoid Robot," Proceedings of IEEE-RAS/RSJ International Conference on Humanoid Robots, #60, 2004.
  • Kensuke Harada, Shuuji Kajita, Hajime Saito, and Hirohisa Hirukawa, "Integration of Manipulation and Locomotion by a Humanoid Robot," Preprints of 2004 International Symposium on Experimental Robotics, 2004. (M.H,Ang and O.Khatib(Eds.):Experimental Robotics IX, STAR 21, pp. 187-196, 2006).
  • Kiyoshi Fujiwara, Fumio Kanehiro, Hajime Saito, Shuuji Kajita, Kensuke Harada, and Hirohisa Hirukawa, "Falling Motion Control of a Humanoid Robot Trained by Virtual Supplementary Tests," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1077-1082, 2004.
  • Fumio Kanehiro, Hirohisa Hirukawa, Kenji Kaneko, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, and Kazuhito Yokoi, "Locomotion Planning of Humanoid Robots to Pass through Narrow Spaces," Proceedings of IEEE International Conference on Robotics and Automation, pp. 604-609, 2004.
  • Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, Kazuhito Yokoi, and Hirohisa Hirukawa, "Humanoid Robot HRP-2 Promet," Video Proceedings of IEEE International Conference on Robotics and Automation, 2004.
  • Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, and Hirohisa Hirukawa, "Biped Walking on a low Friction Floor," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3546-3552, 2004.
  • Kensuke Harada, Shuuji Kajita, Hajime Saito, Mitsuharu Morisawa, Fumio Kanehiro, Kiyoshi Fujiwara, Kenji Kaneko, and Hirohisa Hirukawa, "A Humanoid Robot Carrying a Heavy Object," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1724-1729, 2005.
  • Tetsuyou Watanabe, Kensuke Harada, Zhongwei Jiang, and Tsuneo Yoshikawa, "Object Manipulation under Hybrid Active/Passive Closure," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1025-1032, 2005.
  • Fumio Kanehiro, Takashi Yoshimi, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, Kenji Kaneko, Hirohisa Hirukawa, and Fumiaki Tomita, "Whole Body Locomotion Planning of Humanoid Robots based on 3D Grid Map," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1084-1090, 2005.
  • Mitsuharu Morisawa, Shuuji Kajita, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Kiyoshi Fujiwara, and Hirohisa Hirukawa, "Pattern Generation of Biped Walking Constrained on Parametric Surface," Proceedings of IEEE International Conference on Robotics and Automation, pp. 2416-2421, 2005.
  • Mitsuharu Morisawa, Shuuji Kajita, Kensuke Harada, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa, "Emergency Stop Algorithm for Walking Humanoid Robots," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 31-37, 2005.
  • Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, and Hirohisa Hirukawa, "Slip Observer for Walking on a Low Friction Floor," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1457-1463, 2005.
  • Tetsuyou Watanabe, Kensuke Harada, Tsuneo Yoshikawa, and Zhongwei Jiang, "Towards Whole Arm Manipulation by Contact State Transition," IEEE/RSJ International Conference on Intelligent Robots and Sytems, pp. 5683-5687, 2006.
  • Kensuke Harada, Hitoshi Hasunuma, K. Nakashima, Yoshihiro Kawai and Hirohisa Hirukawa, "Task Autonomy for a Teleoperated Humanoid Robot," Preprints of International Symposium on Experimental Robotics (ISER 06), 2006. (O.Khatib and V.Kumar (Eds.): Experimental Robotics X, Springer, pp. 533-540, 2007.)
  • Kensuke Harada, Kris Hauser, Timothy Bretl, and Jean-Claude Latombe, "Natural Motion Generation for Humanoid Robots," IEEE/RSJ International Conference on Intelligent Robots and Sytems, pp. 833-839, 2006.
  • Hirohisa Hirukawa, Shizuko Hattori, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, and Mitsuharu Morisawa, "A Universal Stability Criterion of the Foot Contact of Legged Robots - Adios ZMP," Proceedings of the IEEE International Conference on Robotics and Automation, pp. 1976-1983, 2006.
  • Shuuji Kajita, Mitsuharu Morisawa, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara and Hirohisa Hirukawa, "Biped Walking Pattern Generator allowing Auxiliary ZMP Control," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2993-2999, 2006.
  • Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shin'ichiro Nakaoka, and Hirohisa Hirukawa, "Towards an Optimal Falling Motion for a Humanoid Robot," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 524-529, 2006.
  • Mitsuharu Morisawa, Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Kiyoshi Fujiwara, Kensuke Harada, and Hirohisa Hirukawa, "Motion Planning of Emergency Stop for Humanoid Robot by State Space Approach," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2986-2992, 2006.
  • Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kiyoshi Fujiwara, Shin'ichiro Nakaoka, and Hirohisa Hirukawa, "A Biped Pattern Generation Allowing Immediate Modification of Foot Placement in Real-time," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 581-5862, 2006.
  • Kenji Kaneko, Fumio Kanehiro, Shuuji Kajita, Mitsuharu Morisawa, Kiyoshi Fujiwara, Kensuke Harada, and Hirohisa Hirukawa, "Motion Suspension System for Humanoids in case of Emergency - Real-time Motion Generation and Judgment to suspend Humanoid -," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5496-5503, 2006.
  • Hitoshi Hasunuma., Kensuke Harada, and Hirohisa Hirukawa, "The Tele-operation of the Humanoid Robot -Whole Body Operation for Humanoid Robots in Contact with Environment-," IEEE-RAS International Conference on Humanoid Robotics, pp. 333-339, 2006.
  • Kensuke Harada, Shizuko Hattori, Hirohisa Hirukawa, Mitsuharu Morisawa, Shuuji Kajita, and Eiichi Yoshida, "Motion Planning for Walking Pattern Generation of Humanoid Robots," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems，pp. 4227-4233, 2007.
  • Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Shin'ichiro Nakaoka, Kiyoshi Fujiwara, Fumio Kanehiro, Kenji Kaneko, Hirohisa Hirukawa, "Experimentation of Humanoid Walking Allowing Immediate Modification of Foot Place Based on Analytical Solution," Proceedings of 2007 IEEE International Conference on Robotics and Automation, pp. 3989-3994, 2007.
  • Hirohisa Hirukawa, S.Hattori, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, Mitsuharu Morisawa, and Shin'ichiro Nakaoka, "A Pattern Generator of Humanoid Robots Walking on a Rough Terrain," Proceedings of IEEE International Conference on Robotics and Automation, pp. 2181-2187, 2007.
  • Kiyoshi Fujiwara, Shuuji Kajita, Kensuke Harada, Kenji Kaneko, Mitsuharu Morisawa, Fumio Kanehiro, Shin'ichiro Nakaoka, and Hirohisa Hirukawa, "An Optimal Planning of Falling Motions of a Humanoid Robot," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems，pp. 456-462, 2007.
  • Kenji Kaneko, Kensuke Harada, and Fumio Kanehiro, "Development of Multi-fingered Hand for Life-size Humanoid Robots," Proceedings of IEEE International Conference on Robotics and Automation, pp. 913-920, 2007.
  • Kensuke Harada, Mitsuharu Morisawa, Kanako Miura, Shin'ichiro Nakaoka, Kiyoshi Fujiwara, Kenji Kaneko, and Shuuji Kajita, "Kinodynamic Gait Planning for Full-Body Humanoid Robots," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1544-1550, 2008.
  • Kensuke Harada, Kenji Kaneko, and Fumio Kanehiro, "Fast Grasp Planning for Hand/Arm Systems Based on Convex Model," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1162-1168, 2008.
  • Kris Hauser, Timothy Bretl, Kensuke Harada, and Jean-Claude Latombe, "Using Motion Primitives in Probabilistic Sample-Based Planning for Humanoid Robots," Algorithmic Foundation of Robotics VII, Springer, pp. 507-522, 2008.
  • Ken'ichi Koyanagi, Hirohisa Hirukawa, Shizuko Hattori, Mitsuharu Morisawa, Shin'ichiro Nakaoka Kensuke Harada and Shuuji Kajita, "A Pattern Generator of Humanoid Robots Walking on a Rough Terrain using a Handrail," Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2617-2622, 2008.
  • Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, G. Miyamori, and K. Akachi, "Humanoid Robot HRP-3," Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2471-2478, 2008.
  • Kanako Miura, Shin'ichiro Nakaoka, Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita," A Friction Based "Twirl" for Biped Robots," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 279-284, 2008.
  • Tokuo Tsuji, Kensuke Harada, Kenji Kaneko, Fumio Kanehiro, and Yoshihiro Kawai, "Selecting a Suitable Grasp Motion for Humanoid Robots with a Multi-Fingered Hand," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 54-60, 2008.
  • Kensuke Harada, Kanako Miura, Mitsuharu Morisawa, Kenji Kaneko, Shin'ichiro Nakaoka, Fumio Kanehiro, Tokuo Tsuji, and Shuuji Kajita, "Toward Human-Like Walking Pattern Generator," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems，pp. 1071-1077, 2009.
  • Tokuo Tsuji, Kensuke Harada, and Kenji Kaneko, "Easy and Fast Evaluation of Grasp Stability by using Ellipsoidal Approximation of Friction Cone," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems，pp. 1830-1837, 2009.
  • Kanako Miura, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Fumio Kanehiro, Kensuke Harada, Kenji Kaneko, and Shuuji Kajita， "Robot Motion Remix based on Motion Capture Data - Towards Human-like Locomotion of Humanoid Robots," Proceedings of IEEE-RAS International Conference on Humanoid Robots，pp. 596-603, 2009.
  • Mitsuharu Morisawa, Kensuke Harada, Shuuji Kajita, Kenji Kaneko, Juan Sola, Eiichi Yoshida, Nicola Mansard, Jean-Paul Laumond, and Kazuhito Yokoi, "Reactive Stepping to Prevent Falling for Humanoids," Proceedings of IEEE-RAS International Conference on Humanoid Robots，pp. 528-534, 2009.
  • Shuuji Kajita, Kenji Kaneko, Fumio Kanehiro, Kensuke Harada, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Kanako Miura, Kiyoshi Fujiwara, Neo E Sian, Isao Hara, Kazuhito Yokoi, Hirohisa Hirukawa, "Cybernetic Human HRP-4C: A humanoid robot with human-like proportions," 14th International Symposium of Robotics Research，2009
  • Kanako Miura, Shin'ichiro Nakaoka, Mitsuharu Morisawa Fumio Kanehiro, Kensuke Harada, and Shuuji Kajita, "Analysis on a Friction Based "Twirl" for Biped Robots," 2010 IEEE International Conference on Robotics and Automation, pp. 4249-55, 2010.
  • Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, K. Maruyama, Akira Nakamura, and Yoshihiro Kawai, "Grasp Planning for Parallel Grippers with Flexibility on its Grasping Surface," Proceedings of IEEE International Conference on Robotics and Biomimetics，pp. 1540-1546, 2011.
  • Tokuo Tsuji, Kenji Kaneko, Kensuke Harada, Fumio Kanehiro, Mitsuharu Morisawa, "Humanoid Robot that Achieves Bipedal Walk, Visual Recognition, and Multiple Finger Grasp," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp.75-80, 2011.
  • Kensuke Harada, Torea Foissotte, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, and Yoshihiro Kawai, "Pick and Place Planning for Dual-Arm Manipulators," Proceedings of 2012 IEEE International Conference on Robotics and Automation, pp. 2281-2286, 2012.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, and Yoshihiro Kawai, "A Constraint-Based Motion Control Strategy for Cantilever Snap Assemblies," Proceedings of IEEE International Conference on Mechatronics and Applications, pp. 1815-1821, 2012.
  • Kensuke Harada, Tokuo Tsuji, Kazuyuki Nagata, Natsuki Yamanobe,Hiromu Onda, T. Yoshimi, and Yoshihiro Kawai, "Object Placement Planner for Robotic Pick and Place Tasks," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 980-985, 2012.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, and Yoshihiro Kawai, "A Relative-Change-Based Hierarchical Taxonomy for Cantilever-Snap Assembly Verification," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 356-363, 2012.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, and Yoshihiro Kawai, "Probabilistic State Verification for Snap Assemblies using the Relative-Change-Based Hierarchical Taxonomy," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 96-103, 2012.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, Kazuyuki Nagata, and Yoshihiro Kawai, "Gradient Calibration for the RCBHT Cantilever Snap Verification System," Proceedings of IEEE International Conference on Robotics and Biomimetics, pp. 984-990, 2012.
  • Kensuke Harada, Kazuyuki Nagata, Tokuo Tsuji, Natsuki Yamanobe, Akira Nakamura, Yoshihiro Kawai, "Probabilistic Approach for Object Bin Picking Approximated by Cylinders," Proceedings of IEEE International Conference on Robotics and Automation, pp. 3727-3732, 2013.
  • Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe, Tokuo Tsuji, Torea Foissotte and Yoshihiro Kawai, ",Error Recovery Using Task Stratification and Error Classification for Manipulation Robots in Various Fields," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3535-3542, 2013.
  • Soichiro Uto, Tokuo Tsuji, Kensuke Harada, Ryo Kurazume, and Tsutomu Hasegawa, "Grasp Planning using Quadric Surface Approximation for Parallel Grippers," Proceedings of IEEE International Conference on Robotics and Biomimetics, pp. 1611-1616, 2013.
  • Kensuke Harada, Tokuo Tsuji, Soichiro Uto, Natsuki Yamanobe, Kazuyuki Nagata, and Kosei Kitagaki, "Stabiltiy of Soft-Finger Grasp under Gravity, " Proceedings of IEEE International Conference on Robotics and Automation, pp. 883-888, 2014.
  • Kensuke Harada, Tokuo Tsuji, and Jean-Paul Laumond, "A Manipulation Motion Planner for Dual-Arm Industrial Manipulators, " Proceedings of IEEE International Conference on Robotics and Automation, pp. 928-934, 2014.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, and Kazuyuki Nagata, "Early Failure Characterization of Cantilever Snap Assemblies using the PA-RCBHT, " Proceedings of IEEE International Conference on Robotics and Automation, pp. 3370-3377, 2014.
  • Weiqiang Luo, Juan Rojas, TianQiang Guan, and Kensuke Harada, and Kazuyuki Nagata, "Cantilever Snap Assembly Failure Detection using SVMs and the RCBHT," Proceedings of IEEE International Conference on Mechatronics and Automation, pp. 384-389, 2014.
  • Yohei Shiraki, Kazuyuki Nagata, Natsuki Yamanobe, Akira Nakamura, Kensuke Harada, Daisuke Sato, and Dragomir Nenchev, "Modeling Everyday Objects for Semantic Grasp," Proceedings of IEEE International Symposium on Robot and Human Interactive Communication, pp. 750-755, 2014.
  • Tokuo Tsuji, Soichiro Uto, Kensuke Harada, Ryo Kurazume, Tsutomu Hasegawa and Ken'ichi Morooka, "Grasp Planning for Constricted Parts of Objects Approximated with Quadric Surfaces, " Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2447-2453, 2014.
  • Ixchel G. Ramirez-Aplizar, Kensuke Harada, and Eiichi Yoshida, "Motion Planning for Dual-arm Assembly of Ring-shaped Elastic Objects," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 594-600, 2014.
  • Juan Rojas, Kensuke Harada, Hiromu Onda, Natsuki Yamanobe, Eiichi Yoshida, and Kazuyuki Nagata, "Contextualized Early Failure Characterization of Cantilever Snap Assemblies, " Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 380-387, 2014.
  • Juan Rojas, TianQiang Guan, Weiqiang Luo, and Kensuke Harada, "Strategies, Controllers, and Coordination: Bi-Manual Snap Assembly Automation," Proceedings of IEEE International Conference on Robotics and Biomimetics, pp.1266-1271, 2014.
  • Kensuke Harada, Takashi Yoshimi, Yasuyo Kita, Kazuyuki Nagata, Natsuki Yamanobe, Toshio Ueshiba, Yutaka Satoh, Takeshi Masuda, Ryuichi Takase, Takao Nishi, Takeshi Nagami, Yoshihiro Kawai, and Osamu Nakamura, "Project on Development of a Robot System for Random Picking―Grasp/Manipulation Planner for a Dual-arm Manipulator―," Proceedings of IEEE/SICE International Symposium on System Integration, pp. 583-589, 2014.
  • Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Kenichi Morooka, and Ryo Kurazume, "Grasp Stability Evaluation for Elastic Fingertips by using Potential Energy Field," Proceedings of IEEE/SICE International Symposium on System Integration, pp. 453-458, 2014.
  • Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, and Natsuki Yamanobe, "Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning," Proceedings of International Conference on Artificial Life and Robotics, pp. 13-16, 2015.
  • Yoshinori Fujihira, Kensuke Harada, Tokuo Tsuji, and Tetsuyou Watanabe, "Experimental Investigation of Effect of Fingertip Stiffness on Resistible Force in Grasping," Proceedings of IEEE International Conference on Robotics and Automation, pp. 4334-4340, 2015.
  • Weiwei Wan and Kensuke Harada, "Divide-and-conquer Manipulation Planning by Lazily Searching a Weighted Two-layer Manipulation Graph," Proceedings of IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015.
  • Eiichi Yoshida, Ko Ayusawa, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Christian Duriez, and Abderrahmane Kheddar, "Simulation-based Optimal Motion Planning for Deformable Object," Proceedings of IEEE International Workshop on Advanced Robotics and its Social Impacts, 2015.
  • Weiwei Wan, Ernest C. H. Chung, Jia Pan, and Kensuke Harada, "Optimizing the Parameters of Tilting Surfaces in Robotic Workcells," Proceedings of IEEE International Conference on Automation Science and Engineering, pp. 593-599, 2015.
  • Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'ichi Morooka, and Ryo Kurazume, "Grasp Stability Evaluation based on Energy Tolerance in Potential Field," Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2311-2316, 2015.
  • Kensuke Harada, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, Hiromu Onda, and Yoshihiro Kawai, "Base Position Planning for Dual-arm Mobile Manipulators Performing a Sequence of Pick-and-place Tasks," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 194-201, 2015.
  • Weiwei Wan and Kensuke Harada, "Reorienting Objects with a Gripping Hand and a Table Surface," Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 101-106, 2015.
  • Tsz-Ho Kwok, Weiwei Wan, Jia Pan, Charlie C.L. Wang, Jianjun Yuan, Kensuke Harada, and Yong Chen, "Rope Caging and Grasping," Proceedings of IEEE International Conference on Robotics and Automation, pp. 1980-1986, 2016.
  • Chao Cao, Weiwei Wan, Jia Pan, and Kensuke Harada, "Analyzing the Utility of a Support Pin in Sequential Robotic Manipulation," Proceedings of IEEE International Conference on Robotics and Automation, pp. 5499-5504, 2016.
  • Weiwei Wan and Kensuke Harada, "Integrated Single-arm Assembly and Manipulation Planning using Dynamic Regrasp Graphs," Proceedings of IEEE International Conference on Real-time Computing and Robotics, pp. 174-179, 2016.
  • Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, and Hiromu Onda, "Visual Recognition System for Learning Based Randomized Bin-Picking," Preprints of 2016 International Symposium on Experimental Robotics, 2016. (To appear)
  • Kensuke Harada, Weiwei Wan, Tokuo Tsuji, Kohei Kikuchi, Kazuyuki Nagata, and Hiromu Onda, "Initial Experiments on Learning-Based Randomized Bin-Picking Allowing Finger Contact with Neighboring Objects," Proceedings of IEEE International Conference on Automation Science and Engineering, pp. - , 2016. (To appear)