Robot Control Research Team

Journal Papers

• 2007
• 2008
• 2009
• S.Arimoto, M.Yoshida, M.Sekimoto and K.Tahara
• ''A Riemannian-geometry approach for control of robotic systems under constraints,''
• SICE Journal of Control, Measurement, and System Integration, vol.2, no.2, pp.107-116, 2009.
• S.Arimoto, M.Yoshida, M.Sekimoto and K.Tahara
• ''A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints,''
• Journal of Robotics, vol.2009, pp.1-16, 2009.
• K.Tahara, S.Arimoto, M.Sekimoto and Z.W.Luo
• ''On control of reaching movements for musculo-skeletal redundant arm model,''
• Applied Bionics and Biomechanics, vol.6, no.1 pp.57-72, 2009.
• Z.Zyada
• ''Position and velocity analysis of free-ended two-link object for whole arm manipulation,''
• Mansoura Engineering Journal vol.34 No.3 pp.M22-M31, 2009.
• A.Nakashima, T.Shibata and Y.Hayakawa
• ''Control of grasp and manipulation by soft fingers with 3-dimensional deformation,''
• SICE Journal of Control, Measurement, and System Integration, vol.2, no.2, pp.78-87, 2009.
• 2010
• S.Arimoto, M.Yoshida, M.Sekimoto and J.Bae
• ''A Riemannian-geometric approach for intelligent control and fingertip design of multi-fingered hands,''
• Advanced Robotics, vol.24, No.8-9, pp.1345-1364, 2010.
• S.Arimoto, M.Sekimoto and K.Taharaa
• ''Iterative learning without reinforcement or reward for multijoint movements: A revisit of Bernstein's DOF problem on dexterity,''
• Journal of Robotics, vol.2010, pp. 217867-1-217867-15, 2010.
• S.Arimoto and M.Yoshida
• ''Modeling and control of 2D grasping under rolling contact constraints between arbitrary shapes: A Riemannian-geometry approach,''
• Journal of Robotics, vol.2010, pp. 926579-1-926579-13, 2010.
• S.Arimoto, K.Tahara and M.Yoshida
• ''Musculoskeletal system of maniphalanx and origin of dexterity,''
• Journal of the Robotics Society of Japan, vol.28, No.6, pp.682-688, 2010.
• 2011
• T.Mukai, S.Hirano, H.Nakashima, Y.Sakaida, and S.Guo,
• ''Realization and Safety Measures of Patient Transfer by Nursing-Care Assistant Robot RIBA with Tactile Sensors,''
• T.Mukai, S.Hirano, H.Nakashima, M.Yoshida, S.Guo and Y.Hayakawa,
• ''Manipulation Using Tactile Information for a Nursing-Care Assistant Robot in Whole-Body Contact with the Object (in Japanese),''
• Transaction of the Japan Society of Mechanical Engineers Series C, Vol. 77, No.782, pp.3794-3807, 2011
• 3. K.Tahara, S.Arimoto and M.Yoshida,
• ''Externally Sensorless Position and Attitude Control of a Grasped Object Using a Virtual Frame by a Triple Soft-Fingered Hand (in Japanese),''
• Journal of Robotics Society of Japan, Vol.29, No.1, pp.89-98, 2011
• Arimoto and M.Yoshida,
• ''A Mathematical and Numerically Integrable Modeling of 3D Object Grasping under Rolling Contacts between Smooth Surfaces,''
• Modelling and Simulation in Engineering, Vol.2011, Article ID 684034, 2011
• 5. M.Yoshida, S.Arimoto, K.Tahara and H.Sugiyama,
• ''Modeling and Control of a Pair of Robot Fingers with Soft Tips and Orderless Saddle-joint Actuators (in Japanese),''
• Journal of the Robotics Society of Japan, Vol.29, No.10, pp.77-87, 2011
• Y.Kobayashi and S.Hosoe
• ''Planning-Space Shift Motion Generation: Variable-space Motion Planning Toward Flexible Extension of Body Schema,''
• Journal of Intelligent & Robotic Systems, vol.62, no.3-4, pp.467-500, 2011.
• F. Zhao, C. Jiang and H. Sawada,
• “A Novel Braille Display Using the Vibration of SMA Wires and the Evaluation of Braille Presentations,”
• Journal of Biomechanical Science and Engineering, vol.7, no.4, pp.416-432, 2012.
• M. Nagai, C. Jiang, K. Morioka, H. Ono and H. Yokoi,
• “Development of Tool for Popularization of Standard Terminology,”(in Japanese)
• Japan Journal of Medical Informatics, vol.32, no.6, pp.287-294, 2012.
• 2012

International Conference Papers

• 2007年
• 2008年
• A.Nakashima, J.Li and Y.Hayakawa
• ''Stability analysis of grasped object by soft-ngers based on moment stability,''
• Proceedings of the 47th IEEE Conference on Decision and Control, pp.4582-4589, 2008.
• 2009年
• K.Takagi, T.Osada, K.Asada, Y.Hayakawa and L.Z.Wei
• ''Distributed parameter system modeling of IPMC actuators with the electro-stress diffusion coupling theory,''
• Proceedings of SPIE-The International Society for Optical Engineering, vol.7287 pp.72871Q-1-72871Q-12, 2009.
• Y.Kobayashi and S.Hosoe
• ''Planning-space shift learning:variable-space motion planning toward exible extension of body schema,''
• Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2009), pp.3107-3114, 2009.
• S.Arimoto, M.Yoshida, M.Sekimoto and K.Tahara
• ''Riemannian-geometry approach for dynamics and control of object manipulation under constraints,''
• Proceedings of the 2009 IEEE International Conference on Robotics and Automation(ICRA2009), pp.1683-1690, 2009.
• M.Yoshida, S.Arimoto and K.Tahara
• ''Modeling and control of a pair of robot ngers with saddle joint under orderless actuations,''
• Proceedings of the 2009 IEEE International Conference on Robotics and Automation(ICRA2009), pp.2499-2505, 2009.
• M.Yoshida, S.Arimoto and K.Tahara
• ''Modeling and control of pinching 2D object with abritrary shape by a pair of robot fingers under rolling constraints,''
• Proceedings of Multibody Dynamics 2009, pp.1-16, 2009.
• M.Yoshida, S.Arimoto and K.Tahara
• ''Manipulation of 2D object with arbitrary shape by robot finger under rolling constraint,''
• Proceedings of ICROS-SICE International Joint Conference 2009(ICCAS-SICE2009), pp.695-699, 2009.
• A.Nakashima, Y.Kobayashi, Y.Ogawa and Y.Hayakawa
• ''Modeling of rebound phenomenon between ball and racket rubber with spinning effect,''
• Proceedings of ICROS-SICE International Joint Conference 2009(ICCAS-SICE2009), pp.2295-2300, 2009.
• M.Sekimoto, S.Arimoto, B.I.Prilutsky, T.Isaka and S.Kawamura
• ''Observation of human multi-joint arm movement from the viewpoint of a Riemannian distance,''
• Proceedings of ICROS-SICE International Joint Conference 2009(ICCAS-SICE2009), pp.2664-2669, 2009.
• K.Tahara, S.Arimoto and M.Yoshida
• ''Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system,''
• Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2009), pp.2257-2263, 2009.
• M.Yoshida, S.Arimoto and K.Tahara
• ''Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints,''
• Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2009), pp.1805-1810, 2009.
• T.Asamizu and Y.Kobayashi
• ''Acquisition of body and object representation based on motion learning and planning framework,''
• Proceedings of 2009 9th International Conference on Intelligent Systems Design and Applications(ISDA2009), pp.1312-1317, 2009.
• T.Okamoto and Y.Kobayashi
• ''Acquisition of image feature on collision for robot motion generation,''
• Proceedings of 2009 9th International Conference on Intelligent Systems Design and Applications(ISDA2009), pp.737-742, 2009.
• A.Nakashima and Y.Hayakawa
• ''Stability analysis of grasped object by soft-fingers with 3-dimensional deformation based on moment stability,''
• Proceedings of the 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, pp.8192-8199, 2009.
• 2010
• Z.Zyada, Y.Hayakawa and S.Hosoe
• ''Kinematic analysis of a two-link object for whole arm manipulation,''
• Proceedings of the 9th WSEAS International Conference on Signal Processing, Robotics and Automation, pp.139-145, 2010.
• S.Sano, K.Takagi, S.Sato, S.Hirayama, N.Uchiyama and K.Asaka
• ''Robust PID force control of IPMC actuators,''
• SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring (Smart Structures/NDE2010), 2010.
• J.Nonomura, A.Nakashima and Y.Hayakawa
• ''Analysis of eects of rebounds and aerodynamics for trajectory of table tennis ball,''
• Proceedings of SICE Annual Conference 2010, pp.1567-1572, 2010.
• Y.Yashiro, M.Yamakita, S.Hirano and Z.W.Luo
• ''Robust falling-down avoidance control for acrobat robot using switching controller,''
• Proceedings of SICE Annual Conference 2010, pp.2479-2484, 2010.
• A.Nakashima, T.Uno, Y.Hayakawa, T.Kondo, S.Sawada and N.Nanba
• ''Synthesis of stable grasp by four-fingered robot hand for pick-and-place of assembling parts,''
• Preprints of the 5th IFAC Symposium on Mechatronic Systems, pp.669-676, 2010.
• A.Nakashima, Y.Tsuda, C.Liu and Y.Hayakawa
• ''A real-time measuring method of translational/rotational velocities of a flying ball,''
• Preprints of the 5th IFAC Symposium on Mechatronic Systems, pp.732-738, 2010.
• A.Nakashima, Y.Ogawa, Y.Kobayashi and Y.Hayakawa
• ''Modeling of rebound phenomenon of a rigid ball with friction and elastic effects,''
• Proceedings of the 2010 American Control Conference, pp.1410-1415, 2010.
• A.Nakashima, Y.Yoshimatsu and Y.Hayakawa
• ''Analysis and synthesis of stable grasp by multi-fingered robot hand with compliance control,''
• Proceedings of the 2010 IEEE International Conference on Control Applications Part of 2010 IEEE Multi-Conference on Systems and Control, pp.1582-1589, 2010.
• T.Mukai, S.Hirano, H.Nakashima, Y.Kato, Y.Sakaida, S.Guo and S.Hosoe
• ''Development of a nursing-care assistant robot RIBA that can lift a human in its arms,''
• Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, pp.5996-6001, 2010.
• 2011
• 1. Z.Zyada, Y.Hayakawa, and S.Hosoe,
• ''Fuzzy nonprehensible manipulation control of a two-rigid-link object by two cooperative arms,''
• Preprints of the 18th IFAC World Congress, pp.14614-14621, 2011
• 2. A. Nakashima and Y.Hayakawa,
• ''Stability analysis of multi-fingered grasp under destabilizing gravity effect,''
• Preprints of the 18th IFAC World Congress, pp.14667-14674, 2011
• 3. T.Mukai, S.Hirano, M.Yoshida, H.Nakashima, S.Guo, and Y.Hayakawa,
• ''Whole-Body Contact Manipulation Using Tactile Information for the Nursing-Care Assistant Robot RIBA,''
• 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2011), pp.2445-2451, 2011
• 4. T.Mukai, S.Hirano, M.Yoshida, H.Nakashima, S.Guo, and Y.Hayakawa,
• ''Tactile-Based Motion Adjustment for the Nursing-Care Assistant Robot RIBA,''
• Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp.5435-5441, 2011
• 5. M.Yoshida and S.Arimoto,
• ''Modeling and Computer Simulation of a Thumb Robot with Rolling Contacting on Arbitrary 3D Object,''
• Proceedings of Multibody dynamics 2011, ECCOMAS Thematic Conference, 2011
• 6. M.Yoshida and S.Arimoto,
• '' A Computational Model of 3D Object Grasping with Smooth geometry under Rolling Contact,''
• Proceedings of SICE Annual Conference 2011, pp.919-923, 2011
• K.Takagi, N.Yamaguchi and K.Asaka,
• ''PWM drive of IPMC actuators with the consideration of the capacitive impedance,''
• Proceedings of SPIE(SPIE Smart Structures/NDE 2011), vol.7976, pp.79762L-1-1-79762L-1-8, 2011.
• 2012
• C.Jiang, M.Deng and Y.Hayakawa,
• ''Operator-based Parallel Compensation Control for Hysteresis using ELM-based Stop-type PI Model,''
• Proceedings of 2012 IEEE International Conference on Mechatronics and Automation, pp. 2054-2058, 2012.
• C. Jiang and M. Deng,
• ''ELM-based parallel compensation control for perturbed plants with hysteresis using robust right coprime factorization,''
• Proceedings of the 2012 International Conference on Advanced Mechatronic Systems (ICAMechS), pp.1-5, 2012.
• T.Hanawa, A. Wang, M. Deng and C. Jiang,
• ''Operator-based robust nonlinear control for an ionic-polymer metal composite with hysteretic properties compensation,''
• Proceedings of the 2012 International Conference on Advanced Mechatronic Systems (ICAMechS), pp.12-17, 2012.
• M. Ding, R. Ikeura, T. Mukai, H. Nagashima, S. Hirano, K. Matsuo, M. Sun, C. Jiang and S. Hosoe,
• ''Comfort Estimation During Lift-up Using Nursing-care Robot - RIBA,''
• Proceedings of 2012 First International Conference on Innovative Engineering Systems, pp.245-250, 2012.
• K. Takagi, S. Hirayama, S. Sano, N. Uchiyama, K. Asaka,
• ''Reduction of the stress-relaxation of IPMC actuators by a fluctuating input and with a cooperative control,''
• Proceedings of SPIE(SPIE Smart Structures/NDE 2012), vol.8340, pp. 83402J-1-83402J-8, 2012.

Domestic Conference Papers

• 2007年
• 2008年
• T.Tsukada, M.Okukawa, K.Asaka, K.Takagi, C.Masuda
• ''Mechanical and sensor properties of CNT/PVDF composites aimed at robotics application,''(in Japanese)
• Proceedings of the 9th SICE System Integration Division Annual Conference(SI2008), pp.287-288, 2008.
• M.Yoshida, S.Arimoto, K.Tahara
• ''Modeling and control of pinching 2D object with arbitrary shape under rolling contacts,''(in Japanese)
• Proceedings of the 9th SICE System Integration Division Annual Conference(SI2008), pp.317-318, 2008.
• M.Sekimoto, S.Arimoto, S.Kawamura
• ''An inertia-induced movement measure based on Riemannian distance,''(in Japanese)
• Proceedings of the 9th SICE System Integration Division Annual Conference(SI2008), pp.1199-1200, 2008.
• 2009年
• E.Kurita, Y.Sato, Y.Kobayashi
• ''State estimation method for robots with incomplete perception using Diffusion-based learning,''(in Japanese)
• Proceedings of the JSME Robotics and Mechatronics Conference 2009(ROBOMEC2009), pp.1A1-F16-1-1A1-F16-4, 2009.
• Y.Takasaki, N.Kawarai, Y.Kobayashi
• ''Estimation of contact mode boundaries by SVM and interpolation for learning of object manipulation,''(in Japanese)
• Proceedings of the JSME Robotics and Mechatronics Conference 2009(ROBOMEC2009), pp.2A2-E05-1-2A2-E05-4, 2009.
• H.Itakura, K.Doki, S.Hirano, Y.Hayakawa, S.Hosoe
• ''The detection method of the external force on the arm for the force control of RI-MAN,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC2I1-01-1-AC2I1-01-2, 2009.
• E.Kurita, Y.Sato, Y.Kobayashi
• ''Behavior generation for robots by integration of multiple sensors,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC1L1-03-1-AC1L1-03-4, 2009.
• T.Asamizu, Y.Kobayashi
• ''Acquisition of body and object representation based on motion learning and planning framework,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC1L1-04-1-AC1L1-04-4, 2009.
• T.Okamoto, Y.Kobayashi, M.Onishi
• ''Acquisition of image feature on collision for robot motion generation,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC1L1-05-1-AC1L1-05-4, 2009.
• K.Shiiba, K.Takagi, K.Asaka
• ''Experimental investigation of the nonlinear input/output property of Ionic Polymer-Metal Composite actuators,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC2A2-02-1-AC2A2-02-4, 2009.
• K.Tahara, H.Kino
• ''Acquisition of adequate internal forces for a musculo-skeletal system using an iterative learning and its evaluation by a dynamic damping ellipsoid,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC2K1-06-1-AC2K1-06-4, 2009.
• K.Tahara, S.Arimoto, M.Yoshida
• ''Object position and orientation control using a virtual frame by a triple soft-fingered robotic hand,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC3A1-05-1-AC3A1-05-4, 2009.
• M.Yoshida, S.Arimoto, K.Tahara
• ''Numerical simulator design for pinching a 2D object with ellipsoidal shape,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC3A2-01-1-AC3A2-01-4, 2009.
• M.Sekimoto, S.Arimoto, B.I.Prilutsky, T.Isaka, S.Kawamura
• ''An inertia-induced measure: Observation of human reaching from the viewpoint of a Riemannian distance,''(in Japanese)
• Proceedings of the 27th annual conference of the Robotics Society of Japan(RSJ2009), pp.AC3L1-03-1-AC3L1-03-4, 2009.
• Y.Sato, Y.Kobayashi
• ''Division of labor by decentralized mobile robots in cooperative iterative-transportation,''(in Japanese)
• Proceeidngs of the SICE Systems and Information Division Annual Conference 2009, pp.302-305, 2009.
• N.Kawarai, Y.Kobayashi
• ''Acquisition of whole-arm manipulation with restriction of action space caused by contact,''(in Japanese)
• Proceeidngs of the SICE Systems and Information Division Annual Conference 2009, pp.420-423, 2009.
• M.Sekimoto, S.Arimoto, S.Kawamura
• ''Control of a multi-joint robot by using an inertia-induced effect based on a Riemannian distance,''(in Japanese)
• Proceedings of the 10th SICE System Integration Division Annual Conference(SI2009), pp.212-215, 2009.
• M.Yoshida, S.Arimoto, K.Tahara
• ''Numerical simulation of pinching an object with arbitrary shape expressed by points interpolation,''(in Japanese)
• Proceedings of the 10th SICE System Integration Division Annual Conference(SI2009), pp.1367-1370, 2009.
• 2010
• D.Ming, R.Ikeura, T.Mukai, H.Nakashima, S.Hirano,K.Matsuo, M.Sun, C.Jiang
• ''介護ロボットRIBAの抱上動作のモデル化と動作中の快適さ推定,''(in Japanese)
• Proceedings of the 30th annual conference of the Robotics Society of Japan(RSJ2012),pp.RSJ2012AC2K1-3-1-RSJ2012AC2K1-3-4, 2012.
• C.Jiang, K.Takagi, T.Suzuki, S.Hosoe, A.Nozawa,K.Hashimoto
• ''Position control of tube-type dielectric elastomer actuator,''(in Japanese)
• Proceedings of the 13th SICE System Integration Division Annual Conference(SI2012), pp.1150-1152, 2012.
• Y.Funabora, T.Suzuki, T.Mukai, S.Hosoe
• ''Posture Estimation of Patients using Tactile Sensors for Care Assistant Robot RIBA,''(in Japanese)
• Proceedings of the 13th SICE System Integration Division Annual Conference(SI2012), pp.2697-2700, 2012.

Others

• 2007年
• 2008年
• 2009年
• T.Mukai, S.Hirano and Y.Kato
• ''Fast and accurate tactile sensor system for a human-interactive robot,''
• Sensors, Focus on Tactile, Force and Stress Sensors, pp.305-317, 2008.
• I.Goncharenko, M.Svinin and S.Hosoe
• ''Dynamic model, haptic solution, and human-inspired motion planning for rolling-based manipulation,''
• Journal of Computing and Information Science in Engineering, vol.9, no.1, pp.011004-1-011004-10, 2009.
• T.Mukai, S.Hirano, S.Hosoe
• ''Nursing-care robot RI-MAN,''(in Japanese)
• Robot, no.188 pp.46-52, 2009.
• 2010