| 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 | 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 | 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 |