Coordination is essential in the design of dynamic control strategies for multi-arm robotic
systems. Given the complexity of the task and dexterity of the system, coordination …

In this paper, we present a real-time whole-body planner for collision-free legged mobile
manipulation. We enforce both self-collision and environment-collision avoidance as soft …

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 …

Purpose of review The purpose of this review is to clarify the problems and discuss the
recent research to achieve multi-contact activities by humanoid robots from the viewpoint of …

This paper describes the cybernetic avatar system developed by Team JANUS for
connectivity, exploration, and skill transfer: the core domains targeted by the ANA Avatar …

Collision detection is an important component of many robotics applications, from robot
control to simulation, including motion planning and estimation. While the seminal works on …

In this letter, we propose a real-time self-collision avoidance approach for whole-body
humanoid robot control. To achieve this, we learn the feasible regions of control in the …

In this paper, a path planning algorithm for a multi-arm space robot is proposed. The robot is
capable of maneuvering on the exterior of a large space station. Based on the maneuver …

In this letter, we propose an efficient and highly versatile loco-manipulation planning for
humanoid robots. Loco-manipulation planning is a key technological brick enabling …

Environmental collision is a challenging issue in human–robot collaboration. This article
proposes a novel fuzzy cluster-based framework for robots to have reactive responses to …