Koji Ishihara

2 accepted papers

2021

Computationally Affordable Hierarchical Framework for Humanoid Robot Control

IROS 2021poster

We propose a hierarchical control framework for generating versatile motions by a humanoid robot. The central feature of our framework is computational affordability: a large amount of computation time is allowable in the upper-level hierarchy. Consequently, whole-body trajectory optimization for a…

Cited by 3 Source ↗Scholar ↗

2020

Full-Body Optimal Control Toward Versatile and Agile Behaviors in a Humanoid Robot

Koji Ishihara, Takeshi D. Itoh, Jun Morimoto

RA-L 2020

In this letter, we develop an optimal control framework that takes the full-body dynamics of a humanoid robot into account. Employing full-body dynamics has been explored in, especially, an online optimal control approach known as model predictive control (MPC). However, whole-body motions cannot be

Cited by 40 Source ↗Scholar ↗