Jun Nakanishi

Auke Jan Ijspeert, Jun Nakanishi, Heiko Hoffmann, Peter Pastor, Stefan Schaal: Dynamical Movement Primitives: Learning Attractor Models for Motor Behaviors. Neural Computation 25(2): 328-373 (2013)

Jun Nakanishi, Sethu Vijayakumar: Exploiting Passive Dynamics with Variable Stiffness Actuation in Robot Brachiation. Robotics: Science and Systems 2012

Jun Nakanishi, Konrad Rawlik, Sethu Vijayakumar: Stiffness and temporal optimization in periodic movements: An optimal control approach. IROS 2011: 718-724

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, Gordon Cheng: Learning to Acquire Whole-Body Humanoid Center of Mass Movements to Achieve Dynamic Tasks. Advanced Robotics 22(10): 1125-1142 (2008)

Jan Peters, Michael Mistry, Firdaus E. Udwadia, Jun Nakanishi, Stefan Schaal: A unifying framework for robot control with redundant DOFs. Auton. Robots 24(1): 1-12 (2008)

Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, Gordon Cheng: Learning CPG-based Biped Locomotion with a Policy Gradient Method: Application to a Humanoid Robot. I. J. Robotic Res. 27(2): 213-228 (2008)

Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal: Operational Space Control: A Theoretical and Empirical Comparison. I. J. Robotic Res. 27(6): 737-757 (2008)

Jun Morimoto, Gen Endo, Jun Nakanishi, Gordon Cheng: A Biologically Inspired Biped Locomotion Strategy for Humanoid Robots: Modulation of Sinusoidal Patterns by a Coupled Oscillator Model. IEEE Transactions on Robotics 24(1): 185-191 (2008)

Michael Mistry, Jun Nakanishi, Gordon Cheng, Stefan Schaal: Inverse kinematics with floating base and constraints for full body humanoid robot control. Humanoids 2008: 22-27

Gordon Cheng, Sang-Ho Hyon, Ales Ude, Jun Morimoto, Joshua G. Hale, Joseph Hart, Jun Nakanishi, Darrin C. Bentivegna, Jessica K. Hodgins, Christopher G. Atkeson, Michael Mistry, Stefan Schaal, Mitsuo Kawato: CB: Exploring neuroscience with a humanoid research platform. ICRA 2008: 1772-1773

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya: Learning a dynamic policy by using policy gradient: application to biped walking. Systems and Computers in Japan 38(4): 25-38 (2007)

Jun Nakanishi, Michael Mistry, Stefan Schaal: Inverse Dynamics Control with Floating Base and Constraints. ICRA 2007: 1942-1947

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Sang-Ho Hyon, Joshua G. Hale, Gordon Cheng: Learning to acquire whole-body humanoid CoM movements to achieve dynamic tasks. ICRA 2007: 2688-2693

Michael Mistry, Jun Nakanishi, Stefan Schaal: Task space control with prioritization for balance and locomotion. IROS 2007: 331-338

Jun Nakanishi, Michael Mistry, Jan Peters, Stefan Schaal: Towards compliant humanoids-an experimental assessment of suitable task space position/orientation controllers. IROS 2007: 2520-2527

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya: Learning CPG-based biped locomotion with a policy gradient method. Robotics and Autonomous Systems 54(11): 911-920 (2006)

Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng, Darrin C. Bentivegna, Christopher G. Atkeson: Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking. ICRA 2006: 1579-1584

Jo-Anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, Jun Nakanishi: A Bayesian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics. Robotics: Science and Systems 2006

Jun Nakanishi, Jay A. Farrell, Stefan Schaal: Composite adaptive control with locally weighted statistical learning. Neural Networks 18(1): 71-90 (2005)

Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, Gordon Cheng: Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-Body Humanoid. AAAI 2005: 1267-1273

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya: Learning CPG-based biped locomotion with a policy gradient method. Humanoids 2005: 208-213

Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Cheng: Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO. ICRA 2005: 596-602

Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, Garth Zeglin: Poincaré-Map-Based Reinforcement Learning For Biped Walking. ICRA 2005: 2381-2386

Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, Kenji Doya: Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion. ICRA 2005: 4164-4169

Jan Peters, Michael Mistry, Firdaus E. Udwadia, Rick Cory, Jun Nakanishi, Stefan Schaal: A unifying methodology for the control of robotic systems. IROS 2005: 1824-1831

Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, Stefan Schaal: Comparative experiments on task space control with redundancy resolution. IROS 2005: 3901-3908

Jun Nakanishi, Stefan Schaal: Feedback error learning and nonlinear adaptive control. Neural Networks 17(10): 1453-1465 (2004)

Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato: Learning from demonstration and adaptation of biped locomotion. Robotics and Autonomous Systems 47(2-3): 79-91 (2004)

Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng: Acquisition of a biped walking pattern using a Poincare map. Humanoids 2004: 912-924

Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato: A framework for learning biped locomotion with dynamical movement primitives. Humanoids 2004: 925-940

Jun Nakanishi, Jay A. Farrell, Stefan Schaal: Learning Composite Adaptive Control for a Class of Nonlinear Systems. ICRA 2004: 2647-2652

Gen Endo, Jun Morimoto, Jun Nakanishi, Gordon Cheng: An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control. ICRA 2004: 3036-3042

Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato: An empirical exploration of phase resetting for robust biped locomotion with dynamical movement primitives. IROS 2004: 919-924

Stefan Schaal, Jan Peters, Jun Nakanishi, Auke Jan Ijspeert: Learning Movement Primitives. ISRR 2003: 561-572

Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek: Brachiation on a ladder with irregular intervals. Advanced Robotics 16(2): 147-160 (2002)

Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal: Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots. ICRA 2002: 1398-1403

Auke Jan Ijspeert, Jun Nakanishi, Stefan Schaal: Learning Attractor Landscapes for Learning Motor Primitives. NIPS 2002: 1523-1530

Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek: A brachiating robot controller. IEEE Transactions on Robotics 16(2): 109-123 (2000)

Jun Nakanishi, Toshio Fukuda: A Leaping Maneuver for a Brachiating Robot. ICRA 2000: 2822-2827

Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek: Brachiation on a Ladder with Irregular Intervals. ICRA 1999: 2717-2722

Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek: Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot. ICRA 1998: 787-792

Jun Nakanishi, Toshio Fukuda, Daniel E. Koditschek: Preliminary studies of a second generation brachiation robot controller. ICRA 1997: 2050-2056