Masayuki Inaba

Learn More
We present an algorithm for planning safe navigation strategies for biped robots moving in obstaclecluttered environments. From a discrete set of plausible statically-stable, single-step motions, a forward dynamic programming approach is used to compute a sequence of feasible footstep locations. In contrast to existing navigation strategies for mobile(More)
|A novel task instruction method for future intelligent robots is presented. In our method, a robot learns reusable task plans by watching a human perform assembly tasks. Functional units and working algorithms for visual recognition and analysis of human action sequences are presented. The overall system is model based and integrated at the symbolic level.(More)
Humanoid robotics hardware and control techniques have advanced rapidly during the last five years. Presently, several companies are developing commercial prototype full-body humanoid robots. This humanoid technology will contribute to the development of sophisticated prostheses in the medical field, as well as human augmentation systems on the military(More)
Recently, view-based or appearance-based approaches have been attracting the interests of computer vision research. Based on a similar idea, we have proposed a view-based navigation method using a model of the route called the “View Sequence.” It contains a sequence of frontal views along a route memorized in the teaching run, and the recognition of the(More)
This paper presents the concepts, issues on development, and future perspectives of a novel musculoskeletal humanoid `Kotaro'. The specifications and advantages of Kotaro include muscle-driven endoskeletal structure, multiple degrees of freedom, variable physical softness, the multiple-joint spine, easily configurable muscles, distributed onbody(More)
This paper describes the development of a Plane Segment Finder, which is able to detect threedimensional planar surfaces from input images in real-time. We propose an algorithm for detecting plane segments, that includes 1) Plane segment candidate extraction using 3D Hough Transformation from depth map information, 2) Fitting the plane segment candidates to(More)
We have been promoting a project of musculoskeletal humanoids. The project aims at the long-term goal of humansymbiotic robots as well as the mid-term goal of necessary design and control concepts for musculoskeletal robots. This paper presents the concepts and aim of the project and also shows the outline of our latest results about development of new(More)
This paper presents an e cient online method to generate humanoid walking motions that satisfy desired upper body trajectories while simultaneously carrying objects. A fast motion pattern genaration technique that follows the desired ZMP is adopted. In order to satisfy the control input given online, subsequent motion patterns are updated and connected(More)