Humanoid Robotics


  • H. Kaminaga, T. Ko, S. Yorita, S. Sato, R. Masumura, M. Komagata, T. Ishikawa, T. Miyatake, and Y. Nakamura, “Enhancement of Mechanical Strength, Computational Power, and Heat Management for Fieldwork Humanoid Robots”, 16th IEEE-RAS International Conference on Humanoid Robots, pp. 786-793, November 15-27, 2016, Cancun, Mexico

  • T. Ko, H. Kaminaga, Y. Nakamura, “Underactuated Four-fingered Hand with Five Electro Hydrostatic Actuators in Cluster, ” in proceedings of IEEE International Conference on Robotics and Automation, pp.620-625, 2017.

UT-delta, UT-delta2

Motion Control

  • Stephane Caron, Quang-Cuong Pham and Yoshihiko Nakamura, “ZMP support areas for multi-contact mobility under frictional constraints”, IEEE Transactions on Robotics (2016). doi: 10.1109/TRO.2016.2623338.

UT-mu, UT-mu2

  • T. Sugihara, K. Yamamoto and Y. Nakamura. “Hardware design of high performance miniature anthropomorphic robots,” Robotics and Autonomous Systems, Vol. 56, Issue 1, pp.82-94, 2007. [DOI: 10.1016/j.robot.2007.09.012]

  • K. Yamamoto, “Control Strategy Switching for Humanoid Robots Based on Maximal Output Admissible Set,” Robotics and Autonomous Systems, Volume 81, 2016, pp. 17-32. [DOI: 10.1016/j.robot.2016.03.010]


UT-theta, UT-theta2