| 2025 | IROS | Trajectory Generation for Humanoid Backflips and Jumps Based on Whole-Body Dynamics Optimization with Consideration of KKT Residual Convergence. | Masanori Konishi, Takuma Hiraoka, Kunio Kojima, Kei Okada |
| 2025 | IROS | Development of Variable Chain Motor with Shape and Speed-Torque Characteristics Variability and Its Application to a Humanoid. | Hiromi Tada, Jin Hirai, Takuma Hiraoka, Masanori Konishi, Tomoya Himeno, Kunio Kojima, Kei Okada |
| 2024 | ICRA | WARABI Hand: Five-fingered Robotic Hand with Flexible Skin and Force Sensors for Social Interaction. | Aoi Nakane, Iori Yanokura, Shun Hasegawa, Naoya Yamaguchi, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2024 | IROS | Magnetic tactile sensor with load tolerance and flexibility using frame structures for estimating triaxial contact force distribution of humanoid. | Takuma Hiraoka, Ren Kunita, Kunio Kojima, Naoki Hiraoka, Masanori Konishi, Tasuku Makabe, Annan Tang, Kei Okada, Masayuki Inaba |
| 2024 | IROS | Design of Upper-Limb Exoskeleton with Distal Branching Link Mechanism for Bilateral Operation of Humanoid Robots. | Hiroki Yoshioka, Naoki Hiraoka, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2024 | ICRA | HumanMimic: Learning Natural Locomotion and Transitions for Humanoid Robot via Wasserstein Adversarial Imitation. | Annan Tang, Takuma Hiraoka, Naoki Hiraoka, Fan Shi, Kento Kawaharazuka, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2023 | IROS | Whole-Body Torque Control Without Joint Position Control Using Vibration-Suppressed Friction Compensation for Bipedal Locomotion of Gear-Driven Torque Sensorless Humanoid. | Takuma Hiraoka, Shimpei Sato, Naoki Hiraoka, Annan Tang, Kunio Kojima, Kei Okada, Masayuki Inaba, Koji Kawasaki |
| 2023 | IROS | ZMP Feedback Balance Control of Humanoid in Response to Ground Acceleration. | Masanori Konishi, Kunio Kojima, Kei Okada, Masayuki Inaba, Koji Kawasaki |
| 2023 | IROS | Development of a Whole-Body Work Imitation Learning System by a Biped and Bi-Armed Humanoid. | Yutaro Matsuura, Kento Kawaharazuka, Naoki Hiraoka, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2023 | IROS | Humanoid Walking System with CNN-Based Uneven Terrain Recognition and Landing Control with Swing-Leg Velocity Constraints. | Shimpei Sato, Kunio Kojima, Naoki Hiraoka, Kei Okada, Masayuki Inaba |
| 2022 | IROS | Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance. | Shimpei Sato, Yuta Kojio, Yohei Kakiuchi, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2022 | IROS | RAMIEL: A Parallel-Wire Driven Monopedal Robot for High and Continuous Jumping. | Temma Suzuki, Yasunori Toshimitsu, Yuya Nagamatsu, Kento Kawaharazuka, Akihiro Miki, Yoshimoto Ribayashi, Masahiro Bando, Kunio Kojima, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2022 | ISRR | Reference-Free Learning Bipedal Motor Skills via Assistive Force Curricula. | Fan Shi, Yuta Kojio, Tasuku Makabe, Tomoki Anzai, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2021 | ICRA | Fixed-root Aerial Manipulator: Design, Modeling, and Control of Multilink Aerial Arm to Adhere Foot Module to Ceilings using Rotor Thrust. | Takuzumi Nishio, Moju Zhao, Tomoki Anzai, Kunio Kojima, Kei Okada, Masayuki Inaba |
| 2021 | IROS | Drop Prevention Control for Humanoid Robots Carrying Stacked Boxes. | Shimpei Sato, Yuta Kojio, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2020 | IROS | Online System for Dynamic Multi-contact Motion with Impact Force Based on Contact Wrench Estimation and Current-Based Torque Control. | Kazuki Fukazawa, Naoki Hiraoka, Kunio Kojima, Shintaro Noda, Masahiro Bando, Kei Okada, Masayuki Inaba |
| 2020 | IROS | Fast Tennis Swing Motion by Ball Trajectory Prediction and Joint Trajectory Modification in Standalone Humanoid Robot Real-time System. | Mirai Hattori, Kunio Kojima, Shintaro Noda, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2020 | IROS | Drive-Train Design in JAXON3-P and Realization of Jump Motions: Impact Mitigation and Force Control Performance for Dynamic Motions. | Kunio Kojima, Yuta Kojio, Tatsuya Ishikawa, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2019 | IROS | Humanoid Robot's Force-Based Heavy Manipulation Tasks with Torque-Controlled Arms and Wrist Force Sensors. | Shintaro Komatsu, Yuya Nagamatsu, Tatsuya Ishikawa, Takuma Shirai, Kunio Kojima, Yohei Kakiuchi, Fumihito Sugai, Kei Okada, Masayuki Inaba |
| 2019 | IROS | Autonomous Safe Locomotion System for Bipedal Robot Applying Vision and Sole Reaction Force to Footstep Planning. | Yuki Omori, Yuta Kojio, Tatsuya Ishikawa, Kunio Kojima, Fumihito Sugai, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2018 | ICRA | High Speed Whole Body Dynamic Motion Experiment with Real Time Master-Slave Humanoid Robot System. | Yasuhiro Ishiguro, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2017 | IROS | Bipedal oriented whole body master-slave system for dynamic secured locomotion with LIP safety constraints. | Yasuhiro Ishiguro, Kunio Kojima, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2017 | IROS | Bipedal walking control against swing foot collision using swing foot trajectory regeneration and impact mitigation. | Tatsuya Ishikawa, Yuta Kojio, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2017 | IROS | 3D walking and skating motion generation using divergent component of motion and gauss pseudospectral method. | Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Kei Okada, Masayuki Inaba |
| 2016 | IROS | Walking control in water considering reaction forces from water for humanoid robots with a waterproof suit. | Yuta Kojio, Tatsushi Karasawa, Kunio Kojima, Ryo Koyama, Fumihito Sugai, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2016 | IROS | Real-time skating motion control of humanoid robots for acceleration and balancing. | Noriaki Takasugi, Kunio Kojima, Shunichi Nozawa, Yohei Kakiuchi, Kei Okada, Masayuki Inaba |
| 2015 | IROS | Shuffle motion for humanoid robot by sole load distribution and foot force control. | Kunio Kojima, Shunichi Nozawa, Kei Okada, Masayuki Inaba |
| 2014 | ICRA | Dance-like humanoid motion generation through foot touch states classification. | Kunio Kojima, Shunichi Nozawa, Kei Okada, Masayuki Inaba |