Masaki Murooka

TACT: Humanoid whole-body contact manipulation through deep imitation learning with tactile modality

Masaki Murooka, Takahiro Hoshi, Kensuke Fukumitsu, Shimpei Masuda, Marwan Hamze, Tomoya Sasaki, Mitsuharu Morisawa, Eiichi Yoshida

IEEE Robotics and Automation Letters, vol. 10, no. 8, pp. 7819-7826, 2025. [Project] | [DOI] | [PDF]

Whole-body multi-contact motion control for humanoid robots based on distributed tactile sensors

Masaki Murooka, Kensuke Fukumitsu, Marwan Hamze, Mitsuharu Morisawa, Hiroshi Kaminaga, Fumio Kanehiro, Eiichi Yoshida

IEEE Robotics and Automation Letters, vol. 9, no. 11, pp. 10620-10627, 2024. [Project] | [DOI] | [PDF]

Centroidal trajectory generation and stabilization based on preview control for humanoid multi-contact motion

Masaki Murooka, Mitsuharu Morisawa, Fumio Kanehiro

IEEE Robotics and Automation Letters, vol. 7, no. 3, pp. 8225-8232, 2022 (Presented at IROS 2022). [Project] | [DOI] | [PDF]

Humanoid loco-manipulations pattern generation and stabilization control

Masaki Murooka, Kevin Chappellet, Arnaud Tanguy, Mehdi Benallegue, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar

IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5597-5604, 2021 (Presented at IROS 2021). [Project] | [DOI] | [PDF]

Humanoid loco-manipulation planning based on graph search and reachability maps

Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro, Abderrahmane Kheddar

IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1840-1847, 2021 (Presented at ICRA 2021). [Project] | [DOI] | [PDF]

Optimization-based posture generation for whole-body contact motion by contact point search on the body surface

Masaki Murooka, Kei Okada, Masayuki Inaba

IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2905-2912, 2020 (Presented at ICRA 2020). [Project] | [DOI] | [PDF]

コンフィギュレーションの時変時不変性と隣接性を考慮した時系列逆運動学最適化計算によるロボット運動生成

室岡 雅樹, 垣内 洋平, 岡田 慧, 稲葉 雅幸

計測自動制御学会論文集, 55巻, 11号, pp. 664-673, 2019.

Global planning of whole-body manipulation by humanoid robot based on transition graph of object motion and contact switching

Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

Advanced Robotics, vol. 31, no. 6, pp. 322-340, 2017.

等身大ヒューマノイドにおける接触姿勢計画と歩行動作修正に基づく大型重量物全身押し操作行動の実現

室岡 雅樹, 小椎尾 侑多, 野沢 峻一, 垣内 洋平, 岡田 慧, 稲葉 雅幸

日本ロボット学会誌, vol. 34, no. 7, pp. 448-457, 2016.学会誌論文賞

等身大ヒューマノイドにおける物体状態・操作力オンライン推定制御法に基づく大型重量物ピボット運搬行動の実現

室岡 雅樹, 野田 晋太朗, 野沢 峻一, 垣内 洋平, 岡田 慧, 稲葉 雅幸

日本ロボット学会誌, vol. 32, no. 7, pp. 595-602, 2014.

Learning differentiable reachability maps for optimization-based humanoid motion generation

Masaki Murooka, Iori Kumagai, Mitsuharu Morisawa, Fumio Kanehiro

IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2025 (Accepted). [PDF]

Whole-body posture evaluation and modification for crane-less servo-off operation of life-sized humanoid robot

Masaki Murooka, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 755-760, 2018.Best Interactive Paper Award

Simultaneous planning and estimation based on physics reasoning in robot manipulation

Masaki Murooka, Shunichi Nozawa, Masahiro Bando, Iori Yanokura, Kei Okada, Masayuki Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 3137-3144, 2018.

Feasibility evaluation of object manipulation by a humanoid robot based on recursive estimation of the object's physical properties

Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 4082-4089, 2017.

Planning and execution of groping behavior for contact sensor based manipulation in an unknown environment

Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 3955-3962, 2016.

Whole-body holding manipulation by humanoid robot based on transition graph of object motion and contact

Masaki Murooka, Yuto Inagaki, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3950-3955, 2015.

Whole-body pushing manipulation with contact posture planning of large and heavy object for humanoid robot

Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 5682-5689, 2015.

Manipulation strategy learning for carrying large objects based on mapping from object physical property to object manipulation action in virtual environment

Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE International Conference on Automation Science and Engineering (CASE), pp. 263-270, 2014.

Manipulation strategy decision and execution based on strategy proving operation for carrying large and heavy objects

Masaki Murooka, Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 3425-3432, 2014.Best Conference Paper Award

時変・時不変コンフィギュレーションを設計可能な時系列逆運動学最適化計算によるロボット運動生成

室岡雅樹, 垣内洋平, 岡田慧, 稲葉雅幸

第24回ロボティクスシンポジア予稿集, pp. 26-29, 2019.

ロボットマニピュレーションにおける幾何要素対応に基づく三次元物体姿勢認識

室岡雅樹, 伊藤秀朗, 板東正祐, 矢野倉伊織, 垣内洋平, 岡田慧, 稲葉雅幸

第36回日本ロボット学会学術講演会予稿集, 3J3-03, 2018.

ロボットマニピュレーションにおける画像内物体の深層学習による運動予測

室岡雅樹, 二井谷勇佑, 和田健太郎, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸

第31回人工知能学会全国大会論文集, 2B1-1, 2017.

等身大ヒューマノイドによる物体物理特性逐次推定に基づく大型重量物操作行動オンライン計画法

室岡雅樹, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸

第34回日本ロボット学会学術講演会予稿集, 3Y2-06, 2016.

力覚情報による環境モデリングと試行動作計画に基づいた未知環境手探り行動の実現法

室岡雅樹, 植田亮平, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸

第16回計測自動制御学会システムインテグレーション部門講演会, 1F4-3, 2015.研究奨励賞

全身接触押し動作生成と運搬戦略事前評価に基づく等身大ヒューマノイドによる重量物運搬行動の実現法

室岡雅樹, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸

第33回日本ロボット学会学術講演会予稿集, 2I2-08, 2015.研究奨励賞

物体姿勢・把持接触グラフに基づく双腕ロボットによる全身接触抱え上げ操作の動作計画法

室岡雅樹, 稲垣祐人, 植田亮平, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸

第33回日本ロボット学会学術講演会予稿集, 1G3-03, 2015.研究奨励賞

手動修正可能な自律認識行動システムによる未知遠隔環境下での全身マニピュレーション実現法

室岡雅樹, 小原由羽, 植田亮平, 野沢峻一, 垣内洋平, 岡田慧, 稲葉雅幸

第33回日本ロボット学会学術講演会予稿集, 3I3-04, 2015.研究奨励賞

目標手先力更新に基づくヒューマノイド全身バランス制御法と大型重量物ピボット運搬への応用

室岡雅樹, 野沢峻一, 野田晋太朗, 岡田慧, 稲葉雅幸

第31回日本ロボット学会学術講演会予稿集, 1C3-02, 2013.

等身大ヒューマノイドによる物体転倒・滑り判定に基づく大型家具の押し・ピボット運搬操作の実現

室岡雅樹, 野沢峻一, 野田晋太朗, 岡田慧, 稲葉雅幸

日本機械学会ロボティクス・メカトロニクス講演会講演論文集 2013, 2P1-B02, 2013.

Reinforcement learning of contact preferability in multi-contact locomotion planning for humanoids

I. Kumagai, M. Murooka, M. Morisawa, F. Kanehiro

IEEE Robotics and Automation Letters, vol. 10, no. 2, pp. 1768-1775, 2025.

Humanoid robot RHP friends: seamless combination of autonomous and teleoperated tasks in a nursing context

M. Benallegue, G. Lorthioir, A. Dallard, R. Cisneros-Limón, I. Kumagai, M. Morisawa, H. Kaminaga, M. Murooka, A. Andre, P. Gergondet, K. Kaneko, G. Caron, F. Kanehiro, A. Kheddar, S. Yukizaki, J. Karasuyama, J. Murakami, M. Kamon

IEEE Robotics & Automation Magazine, vol. 32, no. 1, pp. 79-90, 2025.

Humanoid loco-manipulations using combined fast dense 3D tracking and slam with wide-angle depth-images

K. Chappellet, M. Murooka, G. Caron, F. Kanehiro, A. Kheddar

IEEE Transactions on Automation Science and Engineering, vol. 21, no. 3, pp. 3691-3704, 2024.

Online multi-contact motion replanning for humanoid robots with semantic 3d voxel mapping: ExOctomap

M. Tsuru, A. Escande, I. Kumagai, M. Murooka, K. Harada

Sensors, vol. 23, no. 21, pp. 8837, 2023.

Model predictive control of legged and humanoid robots: models and algorithms

S. Katayama, M. Murooka, Y. Tazaki

Advanced Robotics, vol. 37, no. 5, pp. 298-315, 2023.

Multi-contact locomotion planning with bilateral contact forces considering kinematics and statics during contact transition

I. Kumagai, M. Murooka, M. Morisawa, F. Kanehiro

IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6654-6661, 2021.

Online generation and control of quasi-static multi-contact motion by PWT Jacobian matrix with contact wrench estimation and joint load reduction

N. Hiraoka, M. Murooka, S. Noda, K. Okada, M. Inaba

Advanced Robotics, vol. 35, no. 1, pp. 48-63, 2021.Best Paper Award

Selective grasp in occluded space by all-around proximity perceptible finger

N. Yamaguchi, S. Hasegawa, M. Murooka, K. Okada, M. Inaba

Robotics and Autonomous Systems, vol. 127, pp. 103464, 2020.

A survey of motion planning techniques for humanoid robots

Y. Tazaki, M. Murooka

Advanced Robotics, vol. 34, no. 21-22, pp. 1370-1379, 2020.

Variance based trajectory segmentation in object-centric coordinates

I. Yanokura, M. Murooka, S. Nozawa, K. Okada, M. Inaba

Advances in Intelligent Systems and Computing, pp. 56-66, 2018.

Tactile sensor-based detection of partial foothold for balance control in humanoid robots

T. Tako, R. Cisneros-Limón, H. Kaminaga, K. Kaneko, M. Murooka, I. Kumagai, H. Masuzawa, Y. Kakiuchi

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 513-520, 2024.Best Interactive Paper Award Finalists

Reachability based trajectory generation combining global graph search in task space and local optimization in configuration space

I. Kumagai, M. Murooka, M. Morisawa, F. Kanehiro

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4513-4520, 2022.

Aerial regrasping: Pivoting with transformable multilink aerial robot

F. Shi, M. Zhao, M. Murooka, K. Okada, M. Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 200-207, 2020.

Learning of tool force adjustment skills by a life-sized humanoid using deep reinforcement learning and active teaching request

Y. Kawamura, M. Murooka, N. Hiraoka, H. Ito, K. Okada, M. Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3795-3802, 2020.

Learning of key pose evaluation for efficient multi-contact motion planner

S. Noda, M. Murooka, Y. Asano, R. Ishizaki, T. Kawakami, T. Watabe, K. Okada, T. Yoshiike, M. Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 10591-10597, 2020.

Design, modeling and control of fully actuated 2D transformable aerial robot with 1 DoF thrust vectorable link module

T. Anzai, M. Zhao, M. Murooka, F. Shi, K. Okada, M. Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2820-2826, 2019.

Whole-body control of humanoid robot in 3D multi-contact under contact wrench constraints including joint load reduction with self-collision and internal wrench distribution

N. Hiraoka, M. Murooka, H. Ito, I. Yanokura, K. Okada, M. Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3860-3867, 2019.

Generating a key pose sequence based on kinematics and statics optimization for manipulating a heavy object by a humanoid robot

R. Shigematsu, M. Murooka, Y. Kakiuchi, K. Okada, M. Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3852-3859, 2019.

Walking on a steep slope using a rope by a life-size humanoid robot

M. Bando, M. Murooka, S. Nozawa, K. Okada, M. Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 705-712, 2018.

Online estimation of object-environment constraints for planning of humanoid motion on a movable object

S. Nozawa, S. Noda, M. Murooka, K. Okada, M. Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 1291-1298, 2017.

Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulation

M. Bando, M. Murooka, T. Yanokura, S. Nozawa, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robotics (Humanoids), pp. 129-135, 2017.

Unified humanoid manipulation of an object of unknown mass properties and friction based on online constraint estimation

S. Nozawa, M. Murooka, S. Noda, K. Kojima, Y. Kojio, Y. Kakiuchi, K. Okada

IEEE-RAS International Conference on Humanoid Robotics (Humanoids), pp. 249-256, 2017.

Transformable semantic map based navigation using autonomous deep learning object segmentation

Y. Furuta, K. Wada, M. Murooka, S. Nozawa, Y. Kakiuchi, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 614-620, 2016.

3D object segmentation for shelf bin picking by humanoid with deep learning and occupancy voxel grid map

K. Wada, M. Murooka, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 1149-1154, 2016.

Development of humanoid robot system for disaster response through team nedo-jsk's approach to darpa robotics challenge finals

Y. Kakiuchi, K. Kojima, E. Kuroiwa, S. Noda, M. Murooka, I. Kumagai, R. Ueda, F. Sugai, S. Nozawa, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 805-810, 2015.

Configurable autonomy applicable to humanoid manipulation in unstructured and communication-limited environment

Y. Ohara, M. Murooka, R. Ueda, S. Nozawa, Y. Kakiuchi, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 373-380, 2015.Best Interactive Paper Award Finalists

Humanoid integrated UI system for supervised autonomy with massive data visualization over narrow and unreliable network communication for drc competition

R. Ueda, M. Murooka, Y. Ohara, I. Kumagai, R. Terasawa, Y. Furuta, K. Kojima, T. Karasawa, F. Sugai, S. Iwaishi, S. Nozawa, Y. Kakiuchi, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 797-804, 2015.

Multi-layered real-time controllers for humanoid's manipulation and locomotion tasks with emergency stop

S. Nozawa, E. Kuroiwa, K. Kojima, R. Ueda, M. Murooka, S. Noda, I. Kumagai, Y. Ohara, Y. Kakiuchi, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 381-388, 2015.

Online maintaining behavior of high-load and unstable postures based on whole-body load balancing strategy with thermal prediction

S. Noda, M. Murooka, S. Nozawa, Y. Kakiuchi, K. Okada, M. Inaba

IEEE International Conference on Automation Science and Engineering (CASE), pp. 1166-1171, 2014.

Generating whole-body motion keep away from joint torque, contact force, contact moment limitations enabling steep climbing with a real humanoid robot

S. Noda, M. Murooka, S. Nozawa, Y. Kakiuchi, K. Okada, M. Inaba

IEEE International Conference on Robotics and Automation (ICRA), pp. 1775-1781, 2014.

Description and execution of humanoid's object manipulation based on object-environment-robot contact states

S. Nozawa, M. Murooka, S. Noda, K. Okada, M. Inaba

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2608-2615, 2013.

Description and execution of manipulation and locomotion by a humanoid robot using cascaded contact states graph

S. Nozawa, M. Murooka, S. Noda, Y. Kakiuchi, K. Okada, M. Inaba

IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 492-498, 2013.