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Takahiro Miki
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2020 – today
- 2024
- [j23]Marco Tranzatto
, Mihir Dharmadhikari
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. Field Robotics 4(1): 249-312 (2024) - [j22]Jiaqi Chen
Identifying Terrain Physical Parameters From Vision - Towards Physical-Parameter-Aware Locomotion and Navigation. IEEE Robotics Autom. Lett. 9(11): 9279-9286 (2024) - [j21]Joonho Lee
Learning robust autonomous navigation and locomotion for wheeled-legged robots. Sci. Robotics 9(89) (2024) - [c18]Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter:
Learning to walk in confined spaces using 3D representation. ICRA 2024: 8649-8656 - [c17]Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter:
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning. ICRA 2024: 11451-11458 - [i19]Takahiro Miki, Joonho Lee, Lorenz Wellhausen, Marco Hutter:
Learning to walk in confined spaces using 3D representation. CoRR abs/2403.00187 (2024) - [i18]Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter:
Learning Robust Autonomous Navigation and Locomotion for Wheeled-Legged Robots. CoRR abs/2405.01792 (2024) - [i17]Fan Shi, Chong Zhang, Takahiro Miki, Joonho Lee, Marco Hutter, Stelian Coros:
Rethinking Robustness Assessment: Adversarial Attacks on Learning-based Quadrupedal Locomotion Controllers. CoRR abs/2405.12424 (2024) - [i16]Edoardo Debenedetti, Javier Rando, Daniel Paleka, Silaghi Fineas Florin, Dragos Albastroiu, Niv Cohen, Yuval Lemberg, Reshmi Ghosh, Rui Wen, Ahmed Salem, Giovanni Cherubin, Santiago Zanella Béguelin, Robin Schmid, Victor Klemm, Takahiro Miki, Chenhao Li, Stefan Kraft, Mario Fritz, Florian Tramèr, Sahar Abdelnabi, Lea Schönherr:
Dataset and Lessons Learned from the 2024 SaTML LLM Capture-the-Flag Competition. CoRR abs/2406.07954 (2024) - [i15]Jiaqi Chen, Jonas Frey, Ruyi Zhou, Takahiro Miki, Georg Martius, Marco Hutter:
Identifying Terrain Physical Parameters from Vision - Towards Physical-Parameter-Aware Locomotion and Navigation. CoRR abs/2408.16567 (2024) - [i14]Mike Zhang, Yuntao Ma, Takahiro Miki, Marco Hutter:
Learning to Open and Traverse Doors with a Legged Manipulator. CoRR abs/2409.04882 (2024) - 2023
- [j20]Philip Arm
Scientific exploration of challenging planetary analog environments with a team of legged robots. Sci. Robotics 8(80) (2023) - [c16]Benedek Forrai, Takahiro Miki, Daniel Gehrig
Event-based Agile Object Catching with a Quadrupedal Robot. ICRA 2023: 12177-12183 - [c15]Gian Erni, Jonas Frey, Takahiro Miki, Matías Mattamala
MEM: Multi-Modal Elevation Mapping for Robotics and Learning. IROS 2023: 11011-11018 - [i13]Benedek Forrai, Takahiro Miki, Daniel Gehrig
Event-based Agile Object Catching with a Quadrupedal Robot. CoRR abs/2303.17479 (2023) - [i12]Philip Arm, Gabriel Waibel, Jan Preisig, Turcan Tuna, Ruyi Zhou, Valentin Tertius Bickel, Gabriela Ligeza, Takahiro Miki, Florian Kehl, Hendrik Kolvenbach, Marco Hutter:
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots. CoRR abs/2307.10079 (2023) - [i11]Lukas Schneider, Jonas Frey, Takahiro Miki, Marco Hutter:
Learning Risk-Aware Quadrupedal Locomotion using Distributional Reinforcement Learning. CoRR abs/2309.14246 (2023) - [i10]Gian Erni, Jonas Frey, Takahiro Miki, Matías Mattamala
MEM: Multi-Modal Elevation Mapping for Robotics and Learning. CoRR abs/2309.16818 (2023) - 2022
- [j19]Marco Tranzatto
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field Robotics 2(1): 274-324 (2022) - [j18]Maximilian Stölzle
Reconstructing Occluded Elevation Information in Terrain Maps With Self-Supervised Learning. IEEE Robotics Autom. Lett. 7(2): 1697-1704 (2022) - [j17]Yuntao Ma
Combining Learning-Based Locomotion Policy With Model-Based Manipulation for Legged Mobile Manipulators. IEEE Robotics Autom. Lett. 7(2): 2377-2384 (2022) - [j16]Takahiro Miki
Learning robust perceptive locomotion for quadrupedal robots in the wild. Sci. Robotics 7(62) (2022) - [j15]Marco Tranzatto
CERBERUS in the DARPA Subterranean Challenge. Sci. Robotics 7(66) (2022) - [c14]Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten
Elevation Mapping for Locomotion and Navigation using GPU. IROS 2022: 2273-2280 - [i9]Yuntao Ma, Farbod Farshidian, Takahiro Miki, Joonho Lee, Marco Hutter:
Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators. CoRR abs/2201.03871 (2022) - [i8]Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth, Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka, Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini, Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris, Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch, Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius, Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan I. Nieto, Andy Smith, Marco Hutter, Roland Siegwart, Mark W. Mueller, Maurice F. Fallon, Kostas Alexis:
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. CoRR abs/2201.07067 (2022) - [i7]Takahiro Miki, Joonho Lee, Jemin Hwangbo, Lorenz Wellhausen, Vladlen Koltun, Marco Hutter:
Learning robust perceptive locomotion for quadrupedal robots in the wild. CoRR abs/2201.08117 (2022) - [i6]Takahiro Miki, Lorenz Wellhausen, Ruben Grandia, Fabian Jenelten, Timon Homberger, Marco Hutter:
Elevation Mapping for Locomotion and Navigation using GPU. CoRR abs/2204.12876 (2022) - [i5]Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter, Marco Camurri, Shehryar Khattak, Frank Mascarich, Patrick Pfreundschuh, David Wisth, Samuel Zimmermann, Mihir Kulkarni, Victor Reijgwart, Benoit Casseau, Timon Homberger, Paolo De Petris, Lionel Ott, Wayne Tubby, Gabriel Waibel, Huan Nguyen, Cesar Cadena
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned. CoRR abs/2207.04914 (2022) - 2021
- [j14]Guoqiang Zhang, Lingjin Cao, Kosuke Yayama, Akio Katsushima, Takahiro Miki:
A Differential on Chip Oscillator with 1.47-μs Startup Time and 3.3-ppm/°C Temperature Coefficient of Frequency. IEICE Trans. Fundam. Electron. Commun. Comput. Sci. 104-A(2): 499-505 (2021) - [j13]Takahiro Miki:
Analysis and Design of Continuous-Time Comparator. IEICE Trans. Electron. 104-C(10): 635-642 (2021) - [c13]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. ICRA 2021: 2316-2323 - [c12]Bowen Yang
Real-time Optimal Navigation Planning Using Learned Motion Costs. ICRA 2021: 9283-9289 - [i4]Maximilian Stölzle, Takahiro Miki, Levin Gerdes, Martin Azkarate, Marco Hutter:
Solving Occlusion in Terrain Mapping with Neural Networks. CoRR abs/2109.07150 (2021) - 2020
- [j12]Ryo Sakai, Shinichi Katsumata, Takahiro Miki, Taiki Yano, Wenpeng Wei, Yuya Okadome, Nobuhiro Chihara, Nobutaka Kimura, Yusuke Nakai, Isamu Matsuo, Toshihiko Shimizu:
A mobile dual-arm manipulation robot system for stocking and disposing of items in a convenience store by using universal vacuum grippers for grasping items. Adv. Robotics 34(3-4): 219-234 (2020) - [j11]Fabian Jenelten
Perceptive Locomotion in Rough Terrain - Online Foothold Optimization. IEEE Robotics Autom. Lett. 5(4): 5370-5376 (2020) - [i3]Fan Shi, Timon Homberger, Joonho Lee, Takahiro Miki, Moju Zhao, Farbod Farshidian, Kei Okada, Masayuki Inaba, Marco Hutter:
Circus ANYmal: A Quadruped Learning Dexterous Manipulation with Its Limbs. CoRR abs/2011.08811 (2020)
2010 – 2019
- 2019
- [c11]Takahiro Miki, Petr Khrapchenkov, Koichi Hori:
UAV/UGV Autonomous Cooperation: UAV assists UGV to climb a cliff by attaching a tether. ICRA 2019: 8041-8047 - [i2]Takahiro Miki, Petr Khrapchenkov, Koichi Hori:
UAV/UGV Autonomous Cooperation: UAV Assists UGV to Climb a Cliff by Attaching a Tether. CoRR abs/1903.04898 (2019) - 2018
- [j10]Guoqiang Zhang
A 3.2 ppm/°C Second-Order Temperature Compensated CMOS On-Chip Oscillator Using Voltage Ratio Adjusting Technique. IEEE J. Solid State Circuits 53(4): 1184-1191 (2018) - [c10]Peter Fankhauser, Marko Bjelonic, C. Dario Bellicoso, Takahiro Miki, Marco Hutter:
Robust Rough-Terrain Locomotion with a Quadrupedal Robot. ICRA 2018: 1-8 - [c9]Takahiro Miki, Marija Popovic, Abel Gawel, Gregory Hitz, Roland Siegwart:
Multi-Agent Time-Based Decision-Making for the Search and Action Problem. ICRA 2018: 2365-2372 - [c8]Takahiro Miki, Tsutomu Terada, Masahiko Tsukamoto:
An Eyeglass to Present Information to a User and Others Separately by LED Blinking. MobiCASE 2018: 203-209 - [i1]Takahiro Miki, Marija Popovic, Abel Gawel, Gregory Hitz, Roland Siegwart:
Multi-agent Time-based Decision-making for the Search and Action Problem. CoRR abs/1802.10147 (2018) - 2016
- [c7]Masahiro Murakami, Haruo Kobayashi, Shaiful Nizam Bin Mohyar
I-Q signal generation techniques for communication IC testing and ATE systems. ITC 2016: 1-10 - 2015
- [j9]Takahiro Miki:
Foreword. IEICE Trans. Electron. 98-C(6): 454 (2015) - [c6]Masahiro Murakami, Haruo Kobayashi, Shaiful Nizam Bin Mohyar, Takahiro Miki, Osamu Kobayashi:
Linearity enhancement algorithms for I-Q signal generation - DWA and self-calibration techniques. ASICON 2015: 1-4 - 2013
- [j8]Yuji Nakajima, Norihito Kato, Akemi Sakaguchi, Toshio Ohkido, Takahiro Miki:
A 7-bit, 1.4 GS/s ADC With Offset Drift Suppression Techniques for One-Time Calibration. IEEE Trans. Circuits Syst. I Regul. Pap. 60-I(8): 1979-1990 (2013) - 2012
- [c5]Yuji Nakajima, Norihito Kato, Akemi Sakaguchi, Toshio Ohkido, Kenji Shimomaki, Hiroko Masuda, Chikahiro Shiroma, Michio Yotsuyanagi, Takahiro Miki:
A 7b 1.4GS/s ADC with offset drift suppression techniques for one-time calibration. CICC 2012: 1-4 - [c4]Dieter Draxelmayr, Takahiro Miki:
Session 27 overview: Data converter techniques: Data converters subcommittee. ISSCC 2012: 456-457
2000 – 2009
- 2008
- [j7]Kazuaki Deguchi, Naoko Suwa, Masao Ito, Toshio Kumamoto, Takahiro Miki:
A 6-bit 3.5-GS/s 0.9-V 98-mW Flash ADC in 90-nm CMOS. IEEE J. Solid State Circuits 43(10): 2303-2310 (2008) - 2005
- [c3]Osamu Matsumoto, Hisashi Harada, Yasuo Morimoto, Toshio Kumamoto, Takahiro Miki, Masao Hotta:
An 11-bit 160-MS/s 1.35-V 10-mW D/A converter using automated device sizing system. ASP-DAC 2005: 809-814 - [c2]Dave Rich, Takahiro Miki:
Analog techniques. CICC 2005: 728-729 - 2003
- [j6]Hiroshi Komurasaki, Tomohiro Sano, Tetsuya Heima, Kazuya Yamamoto, Hideyuki Wakada, Ikuo Yasui, Masayoshi Ono, Toshitsugu Miwa, Hisayasu Sato, Takahiro Miki, Naoyuki Kato:
A 1.8-V operation RF CMOS transceiver for 2.4-GHz-band GFSK applications. IEEE J. Solid State Circuits 38(5): 817-825 (2003) - 2002
- [j5]Hiroshi Komurasaki, Kazuya Yamamoto, Hideyuki Wakada, Tetsuya Heima, Akihiko Furukawa, Hisayasu Sato, Takahiro Miki, Naoyuki Kato, Akira Hyogo, Keitaro Sekine:
2.4-GHz-Band CMOS RF Front-End Building Blocks at a 1.8-V Supply. IEICE Trans. Fundam. Electron. Commun. Comput. Sci. 85-A(2): 300-308 (2002) - 2000
- [j4]James C. Morizio
14-bit 2.2-MS/s sigma-delta ADC's. IEEE J. Solid State Circuits 35(7): 968-976 (2000) - [c1]James C. Morizio
SNDR sensitivity analysis for cascaded ΣΔ modulators. ISCAS 2000
1990 – 1999
- 1998
- [j3]Hiroshi Komurasaki, Hisayasu Sato, Nagisa Sasaki, Takahiro Miki:
A 2-V 1.9-GHz Si down-conversion mixer with an LC phase shifter. IEEE J. Solid State Circuits 33(5): 812-815 (1998) - 1994
- [j2]Takahiro Miki, Hiroyuki Kouno, Toshio Kumamoto, Yasushi Kinoshita, Takayuki Igarashi, Keisuke Okada:
A 10-b 50 MS/s 500-mW A/D converter using a differential-voltage subconverter. IEEE J. Solid State Circuits 29(4): 516-522 (1994) - [j1]Masao Ito, Takahiro Miki, Shiro Hosotani, Toshio Kumamoto, Yukihiro Yamashita, Masaki Kijima, Takashi Okuda, Keisuke Okada:
A 10 bit 20 MS/s 3 V supply CMOS A/D converter. IEEE J. Solid State Circuits 29(12): 1531-1536 (1994)
Coauthor Index
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