Kenji Kaneko — accepted AI-conference papers

2019

Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints

Kenji Kaneko, Hiroshi Kaminaga, Takeshi Sakaguchi, Shuuji Kajita, Mitsuharu Morisawa, Iori Kumagai +1

RA-L 2019

This letter introduces the humanoid robot HRP-5P, which stands for Humanoid Robotics Platform-5 Prototype. We have been developing the HRP series humanoid robots since 2000, and HRP-5P is the latest version of the HRP series as of 2018. It is developed as a prototype for our next generation humanoid

Cited by 128 Source ↗Scholar ↗

2019

Multi-Contact Stabilization of a Humanoid Robot for Realizing Dynamic Contact Transitions on Non-coplanar Surfaces

Mitsuharu Morisawa, Mehdi Benallegue, Rafael Cisneros, Iori Kumagai, Adrien Escande, Kenji Kaneko +1

IROS 2019poster

This paper focuses on a stabilization control for multi-contact motion which enables a humanoid robot to locomote by realizing dynamic contact transitions on non-flat environment. In the stabilization process of the multi-contact motion, the desired Zero-Moment Point (ZMP) is modified by the positio…

Cited by 12 Source ↗Scholar ↗

2018

Perception Based Locomotion System for a Humanoid Robot with Adaptive Footstep Compensation under Task Constraints

Iori Kumagai, Mitsuharu Morisawa, Shin'ichiro Nakaoka, Takeshi Sakaguchi, Hiroshi Kaminaga, Kenji Kaneko +1

IROS 2018poster

In order to accurately reach a target position while executing a task which imposes occlusion or constraints of the posture, a humanoid robot requires an adaptive locomotion system, which can comprehensively integrate localization, environmental mapping, global locomotion planning and local error co…

Cited by 15 Source ↗Scholar ↗