• Learning CPG-based Biped Locomotion with a Policy Gradient Method
  Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
  Robotics and Autonomus Systems, vol. 54, issue 11, pp. 911-920 (2006)

• Composite Adaptive Control with Locally Weighted Statistical Learning
  Jun Nakanishi, Jay Farrell, and Stefan Schaal
  Neural Networks, vol. 18, issue 1, pp. 71-90 (2005)

• Learning from Demonstration and Adaptation of Biped Locomotion
  Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
  Robotics and Autonomous Systems, vol. 47, no. 2-3, pp. 79-91 (2004)

• Feedback Error Learning and Nonlinear Adaptive Control
  Jun Nakanishi, and Stefan Schaal
  Neural Networks, vol. 17, issue 10, pp. 1453-1465 (2004) (received JNNS Paper Award)

• Brachiation on a Ladder with Irregular Intervals
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  Advanced Robotics, VSP and the Robotics Society of Japan, Vol. 16, No. 2, pp. 147-160 (2002)

• A Brachiating Robot Controller
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  IEEE Transactions on Robotics and Automation, Vol.16, No. 2, pp. 109-123 (2000)

International Conferences

• A Baysian Approach to Nonlinear Parameter Identification for Rigid Body Dynamics
  Jo-Anne Ting, Michael Mistry, Jan Peters, Stefan Schaal, and Jun Nakanishi
  Robotics: Systems and Science, Philadelphia, PA, USA, (2006) (in press)

• Modulation of Simple Sinusoidal Patterns by a Coupled Oscillator Model for Biped Walking
  Jun Morimoto, Gen Endo, Jun Nakanishi, Sang-Ho Hyon, Gordon Cheng, Darrin Bentivegna, and Christopher G. Atkeson
  IEEE International Conference on Robotics and Automation, pp. 1579-1584, Orlando, FL, USA, May 15-19 (2006)

• Learning CPG-based Biped Locomotion with a Policy Gradient Method
  Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2005), pp. 208-213, Tsukuba, Japan (2005)

• Comparative Experiments on Task Space Control with Redundancy Resolution
  Jun Nakanishi, Rick Cory, Michael Mistry, Jan Peters, and Stefan Schaal
  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3522-3529, Edmonton, Canada, August 2--6 (2005)

• A Unifying Methodology for the Control of Robotic Systems
  Jan Peters, Michael Mistry, Firdaus Udwadia, Rick Cory, Jun Nakanishi, and Stefan Schaal
  2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1575-1582, Edmonton, Canada, August 2-6 (2005)
  

• Learning CPG Sensory Feedback with Policy Gradient for Biped Locomotion for a Full-body Humanoid
  Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, and Gordon Cheng
  The Twentieth National Conference on Artificial Intelligence, pp. 1267-1273 (AAAI-05), Pittsburgh, PA, USA, July 9--13 (2005)

• Experimental Study of a Neural Oscillator for Biped Locomotion using QRIO
  Gen Endo, Jun Nakanishi, Jun Morimoto, and Gordon Cheng
  IEEE International Conference on Robotics and Automation, pp. 598-604, Barcelona, Spain, April 18-22 (2005)

• Poincare-Map-based Reinforcement Learning for Biped Walking
  Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin
  IEEE International Conference on Robotics and Automation, pp. 2392-2397, Barcelona, Spain, April 18-22 (2005)

• Learning Sensory Feedback to CPG with Policy Gradient for Biped Locomotion
  Takamitsu Matsubara, Jun Morimoto, Jun Nakanishi, Masa-aki Sato, and Kenji Doya
  IEEE International Conference on Robotics and Automation, pp. 4175-4180, Barcelona, Spain, April 18-22 (2005)

• Acquisition of a Biped Walking Pattern using a Poincare Map
  Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G. Atkeson, and Garth Zeglin
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2004), pp. 912-924, Los Angeles, CA, USA (2004)

• A Framework for Learning Biped Locomotion with Dynamical Movement Primitives
  Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
  IEEE-RAS/RSJ International Conference on Humanoid Robots (Humaniods 2004), pp. 925-940, Los Angeles, CA, USA (2004)

• An Empirical Exploration of Phase Resetting for Robust Biped Locomotion with Dynamical Movement Primitives
  Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, and Mitsuo Kawato
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 919-924, Sendai, Japan (2004)

• Learning Composite Adaptive Control for a Class of Nonlinear Systems
  Jun Nakanishi, Jay Farrell, and Stefan Schaal
  IEEE International Conference on Robotics and Automation, pp. 2647-2652, New Orleans, LA, USA (2004)

• An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control
  Gen Endo, Jun Morimoto, Jun Nakanishi, Gordon Cheng
  IEEE International Conference on Robotics and Automation, pp. 3036-3042, New Orleans, LA, USA (2004)

• Learning Movement Primitives
  S. Schaal, J. Peters, J. Nakanishi, A. Ijspeert
  11th International Symposium on Robotics Research, Siena, Italy (2003)

• Learning Attractor Landscapes for Learning Motor Primitives
  Auke Jan Ijspeert, Jun Nakanishi, and Stefan Schaal
  Neural Information Processing Systems 2002, Vancouver, Canada, In S. Becker, S. Thrun and K. Obermayer (eds.), Neural Information Processing Systems 15, pp. 1547-1554, MIT Press (2003)

• A Locally Weighted Learning Composite Adaptive Controller with Structure Adaptation
  Jun Nakanishi, Jay Farrell, and Stefan Schaal
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 882-889, Lausanne, Switzerland (2002)

• Learning Rhythmic Movements by Demonstration using Nonlinear Oscillators
  Auke Ijspeert, Jun Nakanishi, and Stefan Schaal
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 958-963, Lausanne, Switzerland (2002)

• Movement Imitation with Nonlinear Dynamical Systems in Humanoid Robots
  Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
  Proceedings of the 2002 IEEE International Conference on Robotics and Automation, pp. 1398-1403, Washington, DC, USA (2002) (received ICRA 2002 Best Paper Award)

• Real-Time Statistical Learning For Robotics and Human Augmentation
  Stefan Schaal, Sethu Vijayakumar, Aaron D'Souza, Auke Ijspeert, and Jun Nakanishi
  10th Internaional Symposium of Robotics Research, pp. 117-124, Lorne, Victoria, Austraria (2001)

• Nonlinear Dynamical Systems for Imitation with Humanoid Robots
  Auke J. Ijspeert, Jun Nakanishi, Tomohiro Shibata, and Stefan Schaal
  IEEE-RAS International Conference on Humanoid Robots, pp. 219-226, Tokyo, Japan (2001)

• Trajectory Formation for Imitation with Nonlinear Dynamical Systems
  Auke J. Ijspeert, Jun Nakanishi, and Stefan Schaal
  IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 752-757, Maui, Hawaii, USA (2001)

• Self-Organizing Control of Urban Traffic Signal Network
  Kosuke Sekiyama, Jun Nakanishi, Isao Takagawa, Toshimitsu Higashi, and Toshio Fukuda
  Proceedings of the 2001 IEEE International Conference on Systems, Man and Cybernetics, pp. 2481-2486, Tucson, AZ, USA (2001)

• Experimental Implementation of a Hybrid Swing up Controller on a Two-link Brachiating Robot
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  Proceedings of 7th Mechatronics Forum International Conference, Atlanta, GA, USA (2000) CD-ROM

• A Leaping Maneuver for a Brachiating Robot
  Jun Nakanishi and Toshio Fukuda
  Proceedings of the 2000 IEEE International Conference on Robotics and Automation, pp. 2822-2826, San Francisco, CA, USA (2000)

• A Hybrid Swing up Controller for a Two-link Brachiating Robot
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  Proceedings of the 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 549-554, Atlanta, GA, USA (1999)

• Brachiation on a Ladder with Irregular Intervals
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp. 2717-2722, Detroit, MI, USA (1999)

• Experimental Implementation of a "Target Dynamics" Controller on a Two-link Brachiating Robot
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  Proceedings of the 1998 IEEE International Conference on Robotics and Automation, pp. 787-792, Leuven, Belgium (1998)

• Preliminary Studies of a Second Generation Brachiation Robot Controller
  Jun Nakanishi, Toshio Fukuda, and Daniel E. Koditschek
  Proceedings of the 1997 IEEE International Conference on Robotics and Automation, pp. 2050-2056, Albuquerque, NM, USA (1997)

Invited Talks

Misc