Spatio-temporal stiffness optimization with switching dynamics
Jun Nakanishi, Andreea Radulescu, David J. Braun, and Sethu Vijayakumar
Autonomous Robots, vol. 41, issue 2, pp. 273-291 (2017)
[DOI, Open access]
Practice reduces task relevant variance modulation and forms nominal trajectory
Rieko Osu, Ken-ichi Morishige, Jun Nakanishi, Hiroyuki Miyamoto, and Mitsuo Kawato
Scientific Reports 5, Article number 17659 (2015)
[DOI, Open access]
Dynamical Movement Primitives: Learning Nonlinear Attractor Models for Motor Behaviors
Auke Jan Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, and Stefan Schaal
Neural Computation, no. 25, issue 2, pp. 328-373 (2013)
[DOI]
Operational Space Control: A Theoretical and Empirical Comparison
Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal
International Journal of Robotics Research,
vol. 27, no. 6, pp. 737-757 (2008)
[DOI]
Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve
Dynamic Tasks
Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon,
Joshua G. Hale, and Gordon Cheng
Advanced Robotics, vol. 22, no. 10, pp. 1125-1142 (2008)
[DOI]
A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots:
Modulation of Sinusoidal Patterns by a Coupled Oscillator Model
Jun Morimoto, Gen Endo, Jun Nakanishi, and Gordon Cheng
IEEE Transactions on Robotics, vol. 24, no. 1, pp. 185-191 (2008)
[DOI]
Learning CPG-based Biped Locomotion with a Policy Gradient Method:
Application to a Humanoid Robot
Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng
International Journal of Robotics Research,
vol. 27, no. 2, pp. 213-228 (2008)
[DOI]
A Unifying Framework for Robot Control with Redundant DOFs
Jan Peters, Michael Mistry, Firdaus Udwadia, Jun Nakanishi, and Stefan Schaal
Autonomous Robots, vol. 24, no. 1, pp. 1-12 (2008)
[DOI]
Learning CPG-based Biped Locomotion with a Policy Gradient Method
Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and
Kenji Doya
Robotics and Autonomous Systems, vol. 54, issue 11, pp. 911-920 (2006)
[DOI]
Composite Adaptive Control with Locally Weighted Statistical Learning
Jun Nakanishi, Jay Farrell, and Stefan Schaal
Neural Networks, vol. 18, issue 1, pp. 71-90 (2005)
[DOI]
Feedback Error Learning and Nonlinear Adaptive Control
Jun Nakanishi, and Stefan Schaal
Neural Networks, vol. 17, issue 10, pp. 1453-1465 (2004)
(received JNNS Best Paper Award)
[DOI]
Learning from Demonstration and Adaptation of Biped Locomotion
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng,
Stefan Schaal, and Mitsuo Kawato
Robotics and Autonomous Systems, vol. 47, no. 2-3, pp. 79-91 (2004)
[DOI]
Brachiation on a Ladder with Irregular Intervals
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Advanced Robotics, Vol. 16, No. 2, pp. 147-160 (2002)
[DOI]
A Brachiating Robot Controller
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
IEEE Transactions on Robotics and Automation, Vol.16, No. 2, pp. 109-123 (2000)
[DOI]
Book Chapter
Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch
Andreea Radulescu, Jun Nakanishi, David J. Braun and Sethu Vijayakumar
Geometric and Numerical Foundations of Movements, J.-P. Laumond et al. (eds), pp. 393-419, Springer (2017)
[DOI]
International Conferences
Conceptual design of a versatile robot for minimally invasive transnasal microsurgery
M. M. Marinho, A. Nakazawa, J. Nakanishi, T. Ueyama, Y. Hasegawa, J. Arata, M. Mitsuishi, K. Harada
International Symposium on Micro-NanoMechatronics and Human Science,
pp. 65-66 (2016)
[DOI]
Optimal Control of Multi-phase Movements with Learned Dynamics
Andreea Radulescu, Jun Nakanishi, and Sethu Vijayakumar
4th International Conferenceon Man-Machine Interactions,
pp. 61-76 (2015)
[DOI]
Spatio-temporal Optimization for Multi-phase Movements: Dealing with Contacts and Switching Dynamics
Jun Nakanishi, Andreea Radulescu, and Sethu Vijayakumar
IEEE/RSJ International Conference of Intelligent Robots and Systems,
pp. 5100-5107 (2013)
[DOI]
Exploiting Passive Dynamics with Vairable Stiffness Actuation in Robot Brachiation
Jun Nakanishi and Sethu Vijayakumar
Robotics: Science and Systems (2012)
[Full text at RSS online Proceedings]
Stiffness and Temporal Optimization in Periodic Movements: An Optimal Control Approach
Jun Nakanishi, Konrad Rawlik, and Sethu Vijayakumar
IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 718-724 (2011)
[DOI]
Inverse Kinematics with Floating Base and Constraints for Full Body Humanoid Robot Control
Michael Mistry, Jun Nakanishi, Gordon Cheng, and Stefan Schaal
IEEE-RAS International Conference on Humanoid Robots,
pp. 22-27 (2008)
[DOI]
CB: Exploring Neuroscience with a Humanoid Research Platform (Video Session)
Gordon Cheng, Sang-Ho Hyon, Ales Ude, Jun Morimoto, Joshua G. Hale,
Joseph Hart, Jun Nakanishi, Darrin Bentivegna, Jessica Hodgins,
Christopher G. Atkeson, Michael Mistry, Stefan Schaal, and Mitsuo Kawato
IEEE International Conference on Robotics and Automation, pp. 1772-1773 (2008)
[DOI]
Towards Compliant Humanoids--An Experimental Assessment of Suitable Task Space Position/Orientation Controllers
Jun Nakanishi, Michael Mistry, and Stefan Schaal
IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 2520-2527 (2007)
[DOI]
Task Space Control with Prioritization for Balance and Locomotion
Michael Mistry, Jun Nakanishi, and Stefan Schaal
IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 331-338 (2007)
[DOI]
Learning to Acquire Whole-Body Humanoid CoM Movements to Achieve Dynamic Tasks
Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon,
Joshua G. Hale, and Gordon Cheng
IEEE International Conference on Robotics and Automation,
pp. 2688-2693 (2007)
[DOI]
Inverse Dynamics Control with Floating Base and Constraints
Jun Nakanishi, Michael Mistry, and Stefan Schaal
IEEE International Conference on Robotics and Automation,
pp. 1942-1947 (2007)
[DOI]
A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics
Jo-Anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, and Jun Nakanishi
Robotics: Science and Systems (2006)
[Full text at RSS online Proceedings]
Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking
Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng,
Darrin Bentivegna, and Christopher G. Atkeson
IEEE International Conference on Robotics and Automation, pp. 1579-1584 (2006)
[DOI]
Learning CPG-based Biped Locomotion with a Policy Gradient Method
Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato,
and Kenji Doya
IEEE-RAS/RSJ International Conference on Humanoid Robots
(Humanoids 2005), pp. 208-213 (2005)
[DOI]
Comparative Experiments on Task Space Control with Redundancy Resolution
Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and
Stefan Schaal
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 3522-3529 (2005)
[DOI]
A Unifying Methodology for the Control of Robotic Systems
Jan Peters, Michael Mistry, Firdaus Udwadia, Rick Cory, Jun Nakanishi, and
Stefan Schaal
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 1575-1582 (2005)
[DOI]
Learning CPG Sensory Feedback with Policy Gradient for Biped
Locomotion for a Full-body Humanoid
Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng
The Twentieth National Conference on Artificial Intelligence, pp. 1267-1273
(AAAI-05) (2005)
[Full text at AAAI Digital Library]
Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion
Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
IEEE International Conference on Robotics and Automation, pp. 4175-4180 (2005)
[DOI]
Poincare-Map-based Reinforcement Learning for Biped Walking
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng,
Christopher G. Atkeson, and Garth Zeglin
IEEE International Conference on Robotics and Automation, pp. 2392-2397 (2005)
[DOI]
Experimental Studies of a Neural Oscillator for Biped Locomotion using QRIO
Gen Endo, Jun Nakanishi, Jun Morimoto, and Gordon Cheng
IEEE International Conference on Robotics and Automation, pp. 598-604 (2005)
[DOI]
Acquisition of a Biped Walking Pattern using a Poincare Map
Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng,
Christopher G. Atkeson, and Garth Zeglin
IEEE-RAS/RSJ International Conference on Humanoid Robots
(Humanoids 2004), pp. 912-924 (2004)
[DOI]
A Framework for Learning Biped Locomotion with Dynamical Movement Primitives
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
IEEE-RAS/RSJ International Conference on Humanoid Robots
(Humanoids 2004), pp. 925-940 (2004)
[DOI]
An Empirical Exploration of Phase Resetting for Robust Biped Locomotion with Dynamical Movement Primitives
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 919-924 (2004)
[DOI]
An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control
Gen Endo, Jun Morimoto, Jun Nakanishi, Gordon Cheng
IEEE International Conference on Robotics and Automation,
pp. 3036-3042 (2004)
[DOI]
Learning Composite Adaptive Control for a Class of Nonlinear Systems
Jun Nakanishi, Jay Farrell, and Stefan Schaal
IEEE International Conference on Robotics and Automation,
pp. 2647-2652 (2004)
[DOI]
Learning Movement Primitives
S. Schaal, J. Peters, J. Nakanishi, A. Ijspeert
11th International Symposium on Robotics Research (2003)
[DOI]
Learning Attractor Landscapes for Learning Motor Primitives
Auke Jan Ijspeert, Jun Nakanishi, and Stefan Schaal
Neural Information Processing Systems 2002,
In S. Becker, S. Thrun and K. Obermayer (eds.), Neural Information
Processing Systems 15, pp. 1547-1554, MIT Press (2003)
[Full text at NIPS Proceedings]
A Locally Weighted Learning Composite Adaptive Controller with Structure Adaptation
Jun Nakanishi, Jay Farrell, and Stefan Schaal
IEEE/RSJ International Conference on Intelligent Robots
and Systems, pp. 882-889 (2002)
[DOI]
Learning Rhythmic Movements by Demonstration using Nonlinear Oscillators
Auke Ijspeert, Jun Nakanishi, and Stefan Schaal
IEEE/RSJ International Conference on Intelligent Robots
and Systems, pp. 958-963 (2002)
[DOI]
Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots
Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
Proceedings of the 2002 IEEE International Conference on Robotics
and Automation, pp. 1398-1403 (2002)
(received ICRA 2002 Best Paper Award)
[DOI]
Real-Time Statistical Learning For Robotics and Human Augmentation
Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, Auke Ijspeert, and Jun Nakanishi
10th International Symposium of Robotics Research,
pp. 117-124 (2001)
Nonlinear Dynamical Systems for Imitation with Humanoid Robots
Auke J. Ijspeert, Jun Nakanishi, Tomohiro Shibata, and Stefan Schaal
IEEE-RAS International Conference on Humanoid Robots, pp. 219-226 (2001)
Trajectory Formation for Imitation with Nonlinear Dynamical Systems
Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
IEEE/RSJ International Conference on Intelligent Robots and Systems,
pp. 752-757 (2001)
[DOI]
Self-Organizing Control of Urban Traffic Signal Network
Kosuke Sekiyama, Jun Nakanishi, Isao Takagawa, Toshimitsu Higashi,
and Toshio Fukuda
Proceedings of the 2001 IEEE International Conference
on Systems, Man and Cybernetics, pp. 2481-2486 (2001)
[DOI]
Experimental Implementation of a Hybrid Swing up Controller on a Two-link Brachiating Robot
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of 7th Mechatronics Forum International Conference (2000) CD-ROM
A Leaping Maneuver for a Brachiating Robot
Jun Nakanishi and Toshio Fukuda
Proceedings of the 2000 IEEE International Conference on Robotics
and Automation, pp. 2822-2826 (2000)
[DOI]
A Hybrid Swing up Controller for a Two-link Brachiating Robot
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 549-554 (1999)
[DOI]
Brachiation on a Ladder with Irregular Intervals
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the 1999 IEEE International Conference on Robotics
and Automation, pp. 2717-2722 (1999)
[DOI]
Experimental Implementation of a "Target Dynamics" Controller on
a Two-link Brachiating Robot
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the 1998 IEEE International Conference on Robotics
and Automation, pp. 787-792 (1998)
[DOI]
Preliminary Studies of a Second Generation Brachiation Robot Controller
Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
Proceedings of the 1997 IEEE International Conference on Robotics and Automation, pp. 2050-2056 (1997)
[DOI]
Invited Presentations
Motor Learning and Control in Humanoid Robots
Jun Nakanishi
2005 Japan-America Frontiers of Engineering (JAFoE) Symposium, San Jose, CA, USA (2005) (poster presentation)
Learning and Adaptation of Biped Locomotion with Dynamical Movement Primitives
Jun Nakanishi, Jun Morimoto, Gen Endo, Stefan Schaal, Gordon Cheng, and Mitsuo Kawato
Workshop on Learning for Locomotion, Robotics: Science and Systems, MIT, Cambridge, MA, USA (2005)
Learning from Demonstration and Adaptation of
Biped Locomotion with Dynamical Movement Primitives
Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal and
Mitsuo Kawato
Workshop on Robot Programming by Demonstration,
IEEE/RSJ International Conference on Intelligent Robots and Systems,
Las Vegas, NV, USA (2003)
Tutorials
Phase Coordination of Multiple Oscillators
Jun Nakanishi
IEEE/RSJ International Conference on Intelligent Robots and Systems,
Tutorial TF3: Dynamical Systems for Biologically-inspired Robotic Motor Control,
Las Vegas, USA, October 31, 2003
Others
Model-based and Mode-free Reinforcement Learning Methods for
Biped Walking
Jun Morimoto, Jun Nakanishi, Gen Endo, Takamitsu Matsubra, Gordon Cheng, Christopher Atkeson, and Garth Zeglin
Workshop on Learning for Locomotion, Robotics: Science and Systems (RSS 2005), MIT, Cambridge, MA, USA (2005)
Control, planning, learning, and imitation with dynamic movement primitives
S. Schaal, J. Peters, J. Nakanishi, A. Ijspeert
Workshop on Bilateral Paradigms on Humans and Humanoids,
IEEE/RSJ International Conference on Intelligent Robots and Systems,
Las Vegas, NV, USA (2003)