International Jouranls

  • 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)