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[1] Moju Zhao, Koji Kawasaki, Kei Okada, Masayuki Inaba:
Transformable multirotor with two-dimensional multilinks: modeling, control, and motion planning for aerial transformation,
Advanced Robotics, Vol.30, No.13, pp.825--845, 2016.
[2] Kohei Kimura, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Tricycle Manipulation by Arms and Legs of Humanoid Robot based on Active and Passive Switching Control System,
Journal of Robotics Society of Japan, Vol.34, No.7, pp.468-477, 2016.
[3] Kunio Kojima, Tatsushi Karasawa, Toyotaka Kozuki, Eisoku Kuroiwa, Sou Yukizaki, Satoshi Iwaishi, Tatsuya Ishikawa, Ryo Koyama, Shintaro Noda, Ryohei Ueda, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Development of High-Speed and High-Power Humanoid Research Platform JAXON,
Journal of Robotics Society of Japan, Vol.34, No.7, pp.458-467, 2016.
[4] Masaki Murooka, Yuta Kojio, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Whole-body Pushing Manipulation of Large and Heavy Objects by Life-sized Humanoid based on Contact Posture Planning and Online Footstep Modification,
Journal of Robotics Society of Japan, Vol.34, No.7, pp.448-457, 2016.
[5] Kohei Kimura, Yuki Asano, Toyotaka Kozuki, Takuma Shirai, Kei Okada, Masayuki Inaba:
Achievement of Pedaling Manipulation Based on Cooperative System for Active Leg and Passive Leg by Tendon-driven Humanoid,
Transactions of the Society of Instrument and Control Engineers, Vol.52, No.8, pp.428-436, 2016.

[6] Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Planning and Execution of Groping Behavior for Contact Sensor based Manipulation in an Unknown Environment,
in Proceedings of The 2016 IEEE International Conference on Robotics and Automation, pp.3955-3962, 2016.
[7] Kohei Kimura, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Tricycle Manipulation Strategy for Humanoid Robot Based on Active and Passive Manipulators Control,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5797-5804, 2016.
[8] Yuta Kojio, Tatsushi Karasawa, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Walking Control in Water Considering Reaction Forces from Water for Humanoid Robots with a Waterproof Suit,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.658-665, 2016.
[9] Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Redundancy Embedding for Search Space Reduction using Deep Auto-Encoder: Application to Collision-Free Posture Generation,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3698-3705, 2016.
[10] Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Real-Time Skating Motion Control of Humanoid Robots for Acceleration and Balancing,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1356-1363, 2016.
[11] Xiangyu Chen, Moju Zhao, Lingzhu Xiang, Fumihito Sugai, Hiroaki Yaguchi, Kei Okada, Masayuki Inaba:
Development of a Low-cost Ultra-tiny Line Laser Range Sensor,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.111-116, 2016.
[12] Iori Kumagai, Ryohei Ueda, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Achievement of localization system for humanoid robots with virtual horizontal scan relative to improved odometry fusing internal sensors and visual information,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.666-673, 2016.
[13] Yuki Asano, Shinsuke Nakashima, Toyotaka Kozuki, Soichi Ookubo, Iori Yanokura, Youhei Kakiuchi, Kei Okada, Masayuki Inaba:
Human Mimetic Foot Structure with Multi-DOFs and Multi-sensors for Musculoskeletal Humanoid Kengoro,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2419-2424, 2016.
[14] Toyotaka Kozuki, Hirose Toshinori, Takuma Shirai, Shinske Nakashima, Yuki Asano, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Skeletal Structure with Artificial Perspiration for Cooling by Latent Heat for Musculoskeletal Humanoid Kengoro,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2135-2140, 2016.
[15] Hiroaki Yaguchi, Kotaro Nagahama, Takaomi Hasegawa, Masayuki Inaba:
Development of An Autonomous Tomato Harvesting Robot with Rotational Plucking Gripper,
in Proceedings of The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.652-657, 2016.
[16] Moju Zhao, Koji Kawasaki, Xiangyu Chen, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Transformable Multirotor with Two-Dimensional Multilinks: Modeling, Control, and Whole-Body Aerial Manipulation,
in 2016 International Symposium on Experimental Robotics, pp.515--524, Springer International Publishing, 2017.
[17] Kotaro Nagahama, Hiroaki Yaguchi, Hirohito Hattori, Kiyohiro Sogen, Takashi Yamamoto, Masayuki Inaba:
Learning-Based Object Abstraction Method from Simple Instructions for Human Support Robot HSR,
in Proceedings of The 2016 IEEE International Conference on Advanced Intelligent Mechatronics, pp.468-475, 2016.
[18] Yasuhiro Ishiguro, Tatsuya Ishikawa, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Online Master-Slave Footstep Control for Dynamical Human-Robot Synchronization with Wearable Sole Sensor,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.864--869, 2016.
[19] Ryo Terasawa, Shintaro Noda, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Achievement of Dynamic Tennis Swing Motion by Offline Motion Planning and Online Trajectory Modification Based on Optimization with a Humanoid Robot,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.1094--1100, 2016.
[20] Shunichi Nozawa, Masao Kanazawa, Yohei Kakiuchi, Kei Okada, Takahide Yoshiike, Masayuki Inaba:
Three-Dimensional Humanoid Motion Planning Using COM Feasible Region,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.49--56, 2016.
[21] Yuki Furuta, Kentaro Wada, Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Transformable Semantic Map Based Navigation using Autonomous Deep Learning Object Segmentation,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.614-620, 2016.
[22] Kentaro Wada, Masaki Murooka, Kei Okada, Masayuki Inaba:
3D Object Segmentation for Shelf Bin Picking by Humanoid with Deep Learning and Occupancy Voxel Grid Map,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.1149-1154, 2016.
[23] Masaya Kawamura, Soichi Ookubo, Yuki Asano, Toyotaka Kozuki, Kei Okada, Masayuki Inaba:
A Joint-Space Controller Based on Redundant Muscle Tension for Multiple DOF Joints in Musculoskeletal Humanoids,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.814--819, 2016.
[24] Yuki Asano, Toyotaka Kozuki, Soichi Ookubo, Masaya Kawamura, Shinsuke Nakashima, Takeshi Katayama, Iori Yanokura, Toshinori Hirose, Kento Kawaharazuka, Shogo Makino, Youhei Kakiuchi, Kei Okada, Masayuki Inaba:
Human Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.876--883, 2016.
[25] Yohei Kakiuchi, Ryohei Ueda, Iori Kumagai, Shunichi Nozawa, Kei Okada, Masayuki Inaba:
Evaluation-Controlling Mechanism of Perception, Planning, and Execution for a Life-Sized Humanoid Robot,
in Proceedings of the 2016 IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp.1196--1203, 2016.
[26] Yuki Furuta, Yuto Inagaki, Kei Okada, Masayuki Inaba:
Self-improving Robot Action Management System with Probabilistic Graphical Model based on Task Related Memories,
in Proceedings of the 14th International Conference on Intelligent Autonomous Systems, pp.811-823, 2016.
[27] Xiangyu Chen, Kohei Kimura, Hiroto Mizohana, Moju Zhao, Fan Shi, Krishneel Chaudhary, Wesley P. Chan, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Development of Task-oriented High Power Field Robot Platform with Humanoid Upper Body and Mobile Wheeled Base,
in Proceedings of the 2016 IEEE/SICE International Symposium on System Integration, pp.349--354, 2016.
[28] Takuma Shirai, Kohei Osawa, Hiroyuki Chishiro, Nobuyuki Yamasaki, Masayuki Inaba:
Design and Implementation of A High Power Robot Distributed Control System on Dependable Responsive Multithreaded Processor (D-RMTP),
in Proceedings of The 2016 IEEE International Conference on Cyber-Physical Systems, Networks, and Applications, pp.19-24, 2016.
[29] Kanae Kochigami, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Study on the feasibility and the design to support child care for a child to do chores with an interactive robot Pepper,
in Proceedings of the XXIII IFHE (International Federation for Home Economics) World Congress 2016 (IFHE 2016), pp.42-43, 2016.

[30] Yuki ASANO, Toyotaka KOZUKI, Soichi OOKUBO, Masaya KAWAMURA, Iori YANOKURA, Shinsuke NAKASHIMA, Takeshi KATAYAMA, Toshinori HIROSE, Youhei KAKIUCHI, Kei OKADA, Masayuki INABA:
Human Mimetic Musculoskeletal Humanoid Kengoro for Real World Physically Interactive Actions,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-13a2, 2016.
[31] Shinsuke NAKASHIMA, Yuki ASANO, Toyotaka KOZUKI, Takuma SHIRAI, Youhei KAKIUCHI, Kei OKADA, Masayuki INABA:
Distributed Haptic System for the High-load Anthropomimetic Foot of Life-sized Musculoskeletal Humanoid,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-13a2, 2016.
[32] Hiroto SUZUKI, Yuya NAGAMATSU, Takuma SHIRAI, Shunichi NOZAWA, Youhei KAKIUCHI, Kei OKADA, Masayuki INABA:
Joint Overload Absorption Control in Biped Robot with Torque Sensors in Ankle Joints,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-13a7, 2016.
[33] Kentaro Wada, Kei Okada, Masayuki Inaba:
Adaptive Picking Motion Generation with Reinforcement Learning of Perception based on Experience in Robotic Tasks,
in 2016 JSME Conference on Robotics and Mechatronics, 1P1-03b3, 2016.
[34] Iori YANOKURA, Yuki ASANO, Toyotaka KOZUKI, Soichi OOKUBO, Takeshi KATAYAMA , Masaya KAWAMURA, Youhei KAKIUCHI, Kei OKADA, Masayuki INABA:
Disconnect Detection of Tendon and Relearning Muscle Jacobian System of Tendon-Driven Musculoskeltal Humanoid,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-13a6, 2016.
[35] Noriaki TAKASUGI, Kunio KOJIMA, Ryo TERASAWA, Tatsuya ISHIKAWA, Shunichi NOZAWA, Yohei KAKIUCHI, Kei OKADA, Masayuki INABA:
Real-time Motion Control of Humanoid for Skating Motion by Foot Force Control,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-12a6, 2016.
[36] Kotaro Nagahama, Kazuhiro Sasabuchi, Hiroaki Yaguchi, Masayuki Inaba:
A Study of Agricultural Support Robotics Using Life-sized Humanoid Robot Platforms -Their Developments and Evaluations through the Tomato Robot Competitions-,
in 2016 JSME Conference on Robotics and Mechatronics, 2P2-17a1, 2016.
[37] Kotaro Nagahama, Kazuhiro Sasabuchi, Hiroaki Yaguchi, Masayuki Inaba:
Education of Robot Software System through the Programming of Agricultural Tasks and the Tomato Robot Competition,
in 2016 JSME Conference on Robotics and Mechatronics, 2P2-17a2, 2016.
[38] Takeshi Katayama, Toyotaka Kozuki, Yuki Asano, Soichi Okubo, Iori Yanokura, Masaya Kawamura Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Flexible Foam Muscle Exterior for Life-sized Tendon driven Humanoid,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-13a4, 2016.
[39] Masaya KAWAMURA, Soichi OOKUBO, Toyotaka KOZUKI, Yuki ASANO, Takeshi KATAYAMA, Iori YANOKURA, Kei OKADA, Masayuki INABA:
Realization of Adaptive Contact Motion with Joint-Level Stiffness Control of Tendon Driven Humanoid,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-12b7, 2016.
[40] Hiroto MIZOHA, Masaki MUROOKA, Yu OHARA, Ryohei UEDA, Syunichi NOZAWA, Kotaro NAGAHAMA, Hiroaki YAGUCHI, Kei OKADA, Masayuki INABA:
Object Picking Motion by Humanoid Robot based on Object Position and Rotation Tracking,
in 2016 JSME Conference on Robotics and Mechatronics, 2A1-12a5, 2016.
[41] Masaki Murooka, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
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,
in The 34th Annual Conference on Robotics Society of Japan, 3Y2-06, 2016.
[42] Kotaro Nagahama, Hiroaki Yaguchi, Keisuke Takeshita, Kiyohiro Sogen, Takashi Yamamoto, Masayuki Inaba:
生活支援ロボットHSRの扉形状特徴を用いた扉操作法の簡易教示と自動再現,
in The 34th Annual Conference on Robotics Society of Japan, 3G2-08, 2016.
[43] Hiroaki Yaguchi, Kazuhiro Sasabuchi, Kotaro Nagahama, Masayuki Inaba:
生活支援研究プラットフォームAeroの競技会を通じたシステム評価,
in The 34th Annual Conference on Robotics Society of Japan, 3F1-05, 2016.
[44] Hiroaki Yaguchi, Kazuhiro Sasabuchi, Kotaro Nagahama, Masayuki Inaba:
多種物品取り出しタスクのためのEusLispを用いた幾何学モデル構築と把持・動作計画手法,
in The 34th Annual Conference on Robotics Society of Japan, 3E3-04, 2016.
[45] Iori Yanokura, Yu Ohara, Masaki Murooka, Shunichi Nozawa, Kei Okada, Masayuki Inaba:
ヒューマノイドにおけるオンライン型模倣修正に基づく道具利用行為の獲得機構に関する研究,
in The 34th Annual Conference on Robotics Society of Japan, 3Y3-01, 2016.
[46] Yuta Kojio, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
防水スーツ着用ヒューマノイドロボットによる水から受ける力を考慮した水中歩行制御,
in The 34th Annual Conference on Robotics Society of Japan, 3Y2-03, 2016.
[47] Fumihito Sugai, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
高速大出力ヒューマノイドのための超小型大出力モータドライバの開発,
in The 34th Annual Conference on Robotics Society of Japan, 1X2-01, 2016.
[48] Yasuhiro Ishiguro, Tatsuya Ishikawa, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
人体二脚操作に即時対応可能な等身大脚ロボットのオンラインリアルタイム操縦システム,
in The 34th Annual Conference on Robotics Society of Japan, 3Y2-05, 2016.
[49] Yusuke Niitani, Kentaro Wada, Shun Hasegawa, Shingo Kitagawa, Masashi Bando, Kei Okada, Masayuki Inaba:
物品棚のピッキング作業のための深層学習でのセマンティック画像分割と三次元物品輪郭抽出,
in The 34th Annual Conference on Robotics Society of Japan, 2G2-03, 2016.
[50] Hiroto MIZOHANA, Chan Wesley, Kohei KIMURA, Xiangyu Chen, Kei Okada, Masayuki Inaba:
Object Recognition Considering Shadow from Environment and Self Body for Outdoor Tool picking and Manipulation Task by Humanoid with Movable Vehicle,
in Proceedings of the 17th SICE System Integration Division Annual Conference, pp.2611--2616, 2016.
[51] Yusuke Oshiro, Masaki Murooka, Yu Ohara, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Achivement of Reaching while Walking on a Humanoid based on Monitoring of Reaching an Aiming Point,
in Proceedings of the 17th SICE System Integration Division Annual Conference, pp.200--203, 2016.

[52] Hitoshi KAMADA, Yuki FURUTA, Yohei KAKIUCHI, Kei OKADA, Masayuki INABA:
Realization of Concurrent Robot Motion from Motion Phase Shift based on Covariance of Recognition Results under Home Robots,
JSME Fellow Award for Outstanding Young Engineers, ROBOMEC2015, 2016.06.09.
[53] Chi Wun AU, Yohei KAKIUCHI, Kei OKADA, Masayuki INABA:
Manipulate structured furniture by mobile base robot with low impedance manipulator,
JSME Fellow Award for Outstanding Young Engineers, ROBOMEC2015, 2016.06.09.
[54] Kunio Kojima:
Development of Life-Sized High-Power Humanoid Robot JAXON for Real-World Use,
Young Investigation Excellence Award, The 33th Annual Conference on Robotics Society of Japan, 2016.09.08.
[55] Masaki Murooka:
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,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,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,
Young Investigation Excellence Award, The 33th Annual Conference on Robotics Society of Japan, 2016.09.08.
[56] Yuta Kojio, Tatsushi Karasawa, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Walking Control in Water Considering Reaction Forces from Water for Humanoid Robots with a Waterproof Suit,
IEEE Robotics and Automation Society (RAS) Japan Chapter Young Award (in IROS2016), 2016.10.11.
[57] Shintaro Noda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Redundancy Embedding for Search Space Reduction using Deep Auto-Encoder: Application to Collision-Free Posture Generation,
IEEE Robotics and Automation Society (RAS) Japan Chapter Young Award (in IROS2016), 2016.10.11.
[58] Toyotaka Kozuki, Hirose Toshinori, Takuma Shirai, Shinske Nakashima, Yuki Asano, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Skeletal Structure with Artificial Perspiration for Cooling by Latent Heat for Musculoskeletal Humanoid Kengoro,
IROS2016 Best Application Paper, 2016.10.13.
[59] Ryo Terasawa, Shintaro Noda, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Achievement of Dynamic Tennis Swing Motion by Offline Motion Planning and Online Trajectory Modification Based on Optimization with a Humanoid Robot,
Mike Stilman Award, Humanoids2016, 2016.11.17.
[60] Yuki Asano, Toyotaka Kozuki, Soichi Ookubo, Masaya Kawamura, Shinsuke Nakashima, Takeshi Katayama, Iori Yanokura, Toshinori Hirose, Kento Kawaharazuka, Shogo Makino, Youhei Kakiuchi, Kei Okada, Masayuki Inaba:
Human Mimetic Musculoskeletal Humanoid Kengoro toward Real World Physically Interactive Actions,
Best Interactive Paper Award Finalist, Humanoids2016, 2016.11.16.
[61] Masaki Murooka, Ryohei Ueda, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba:
Achievement of Groping Behavior based on Environment Modeling and Trial Motion by Force Information,
Young Researcher Award, SICE, 2017.02.20.

[62] Kanae Kochigami:
Which direction is desired for robotics technology for assistance of people: living with a robot or using a robot?,
2017.