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Kenji Tahara
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2020 – today
- 2024
- [c65]Kazuki Senda, Koichi Komada, Tetsuya Morizono, Yuki Matsutani, Kenji Tahara, Hitoshi Kino:
Proposal of Feedforward Trajectory Control with Iterative Learning for a Musculoskeletal System. AMC 2024: 1-5 - [c64]Sumitaka Honji
, Hikaru Arita, Kenji Tahara:
State Estimation of a Soft Robotic Finger with Dynamic Effect of Parameter Uncertainty. RoboSoft 2024: 444-451 - [c63]Ha Thang Long Doan, Hikaru Arita, Kenji Tahara:
External Sensor-less Fingertip Force/Position Estimation Framework for a Linkage-based Under-actuated Hand with Self-locking Mechanism. SII 2024: 219-224 - [i4]Shunsuke Tokiwa, Hikaru Arita, Yosuke Suzuki, Kenji Tahara:
Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control. CoRR abs/2407.05582 (2024) - [i3]Kengo Iwao, Hikaru Arita, Kenji Tahara:
State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed over the Whole Body. CoRR abs/2409.12564 (2024) - 2023
- [j34]Shoki Tsuboi
Variable end-point viscoelasticity control for a musculoskeletal redundant arm. Adv. Robotics 37(17): 1128-1141 (2023) - [j33]Sumitaka Honji
Stochastic approach for modeling soft fingers with creep behavior. Adv. Robotics 37(22): 1471-1484 (2023) - [j32]Gentiane Venture, Kenji Tahara, Natsuki Yamanobe, Shingo Shimoda, Masahiro Shiomi:
Special issue on robot and human interactive communication 2023 (selected papers from RO-MAN 2022). Adv. Robotics 37(24): 1533 (2023) - [j31]Hiroaki Ochi, Koichi Komada
Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles. J. Robotics Mechatronics 35(3): 751-761 (2023) - [j30]Hikaru Arita
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control. IEEE Trans. Robotics 39(5): 3536-3548 (2023) - [c62]Ha Thang Long Doan, Hikaru Arita, Kenji Tahara:
External Sensor-Less in-Hand Object Position Manipulation for an Under-Actuated Hand Using Data-Driven-Based Methods to Compensate for the Nonlinearity of Self-Locking Mechanism. IROS 2023: 4896-4903 - [c61]Ha Thang Long Doan
Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand. SII 2023: 1-7 - [i2]Sumitaka Honji, Hikaru Arita, Kenji Tahara:
Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior. CoRR abs/2306.07035 (2023) - 2022
- [j29]Ken Masuya
Wire-Storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber. IEEE Robotics Autom. Lett. 7(4): 11094-11101 (2022) - [c60]Shoki Tsuboi, Hitoshi Kino, Kenji Tahara:
End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy. IROS 2022: 4997-5002 - [i1]Hikaru Arita, Hayato Nakamura, Takuto Fujiki, Kenji Tahara:
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control. CoRR abs/2212.03545 (2022) - 2021
- [j28]Yuki Matsutani, Kenji Tahara, Hitoshi Kino:
Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System. Frontiers Robotics AI 8: 699792 (2021) - [j27]Hitoshi Kino, Hiroaki Ochi, Kenji Tahara:
Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity. J. Robotics Mechatronics 33(3): 619-628 (2021) - [j26]Ken Masuya
Novel Twisted and Coiled Polymer Fiber Actuator Fabricated From Polymer-Coated Optical Fiber. IEEE Robotics Autom. Lett. 6(3): 4883-4890 (2021) - [c59]Takuto Fujiki, Kenji Tahara:
Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers. ICRA 2021: 6955-6962 - 2020
- [c58]Ken Masuya
Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane. AIM 2020: 132-137 - [c57]Sumitaka Honji
Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper. RoboSoft 2020: 593-598 - [c56]Seunghyun Choi, Kenji Tahara:
Development of a Visual-Tactile Fingertip Sensor and an Object Manipulation Method using a Multi-Fingered Robotic Hand. SII 2020: 1008-1015
2010 – 2019
- 2019
- [j25]Tetsuya Morizono, Kenji Tahara, Hitoshi Kino:
Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles. J. Robotics Mechatronics 31(1): 143-155 (2019) - [j24]Hitoshi Kino, Naofumi Mori, Shota Moribe, Kazuyuki Tsuda, Kenji Tahara:
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire. J. Robotics Mechatronics 31(4): 583-593 (2019) - [j23]Yuki Matsutani, Kenji Tahara, Hitoshi Kino:
Set-Point Control of a Musculoskeletal System Under Gravity by a Combination of Feed-Forward and Feedback Manners Considering Output Limitation of Muscular Forces. J. Robotics Mechatronics 31(4): 612-620 (2019) - [j22]Kenji Tahara
Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback. IEEE Robotics Autom. Lett. 4(3): 2447-2454 (2019) - [j21]Ryo Hayashi, Ken Masuya
Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback. IEEE Robotics Autom. Lett. 4(3): 2561-2567 (2019) - 2018
- [j20]Yuki Matsutani, Kenji Tahara, Hitoshi Kino
Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay. Adv. Robotics 32(8): 411-425 (2018) - [j19]Hitoshi Kino
3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control. Adv. Robotics 32(14): 766-777 (2018) - [j18]Miao Li
Learning task manifolds for constrained object manipulation. Auton. Robots 42(1): 159-174 (2018) - [j17]Ken Masuya
Feedforward Control of Twisted and Coiled Polymer Actuator Based on a Macroscopic Nonlinear Model Focusing on Energy. IEEE Robotics Autom. Lett. 3(3): 1824-1831 (2018) - [j16]Efi Psomopoulou
Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips. Robotica 36(2): 204-224 (2018) - [c55]Hiroki Kubota, Kenji Tahara:
Two-types Force Controllers for a Prismatic Actuation Module Redundantly Driven by Multiple Sheet-type Dielectric Elastomer Actuators. AIM 2018: 539-544 - [c54]Shu Ono, Ken Masuya
Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control. RoboSoft 2018: 467-472 - 2017
- [j15]Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations. Artif. Life Robotics 22(1): 74-82 (2017) - [j14]Hitoshi Kino
Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons. Adv. Robotics 31(16): 851-864 (2017) - [j13]Ryuta Ozawa, Kenji Tahara:
Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point. Adv. Robotics 31(19-20): 1030-1050 (2017) - [c53]Ken Masuya
Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance. AIM 2017: 779-784 - [c52]Yuki Matsutani, Kenji Tahara, Hitoshi Kino
Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. Humanoids 2017: 213-218 - 2016
- [c51]Kenji Tahara, Yuki Matsutani, Daisuke Nakagawa, Masataka Sato, Hitoshi Kino
Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. IECON 2016: 815-820 - 2015
- [c50]Hiroaki Ochi, Hitoshi Kino
Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. IECON 2015: 1109-1114 - [c49]Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces. IECON 2015: 3573-3578 - [c48]Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada
Grasp stability evaluation based on energy tolerance in potential field. IROS 2015: 2311-2316 - 2014
- [c47]Tomofumi Okada, Kenji Tahara:
Development of a two-link planar manipulator with continuously variable transmission mechanism. AIM 2014: 617-622 - [c46]Yuki Matsutani, Kenji Tahara, Hitoshi Kino
Set-point control of a musculoskeletal arm by the complementary combination of a feedforward and feedback manner. ICRA 2014: 5908-5914 - [c45]Miao Li, Hang Yin, Kenji Tahara, Aude Billard:
Learning object-level impedance control for robust grasping and dexterous manipulation. ICRA 2014: 6784-6791 - [c44]Ryota Ishibashi, Hiroaki Ochi, Takahiko Oda, Ryuji Okuda, Katsuya Umeda, Kenji Tahara, Hitoshi Kino
A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds. ROBIO 2014: 2673-2678 - 2013
- [j12]Hitoshi Kino
Numerical analysis of feedforward position control for non-pulley musculoskeletal system: a case study of muscular arrangements of a two-link planar system with six muscles. Adv. Robotics 27(16): 1235-1248 (2013) - [j11]Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa:
Robust Visual Servoing for Object Manipulation Against Temporary Loss of Sensory Information Using a Multi-Fingered Hand-Arm. J. Robotics Mechatronics 25(1): 125-135 (2013) - [j10]Akihiro Kawamura, Kenji Tahara
Dynamic grasping of an arbitrary polyhedral object. Robotica 31(4): 511-523 (2013) - [c43]Hitoshi Kino
Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. ARSO 2013: 1-6 - [c42]Yuki Matsutani, Hiroaki Ochi, Hitoshi Kino
Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force. ARSO 2013: 7-12 - [c41]Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara:
Sensibility to Muscular Arrangement of Feedforward Position Control for Non-Pulley-Musculoskeletal System. ITCS 2013: 827-833 - 2012
- [c40]Kenji Tahara
Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints. ICRA 2012: 3252-3257 - [c39]Kenji Tahara
Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness. IROS 2012: 4620-4625 - [c38]Akihiro Kawamura, Kenji Tahara
Robust visual servoing for object manipulation with large time-delays of visual information. IROS 2012: 4797-4803 - 2011
- [j9]Kenji Tahara
Biomimetic Pinching Movements of a Musculo-Skeletal Dual-Finger Model. Adv. Robotics 25(1-2): 175-204 (2011) - [c37]Akihiro Kawamura, Kenji Tahara
Dynamic object manipulation using a multi-fingered hand-arm system: Enhancement of a grasping capability using relative attitude constraints of fingers. ICAR 2011: 8-14 - [c36]Kenji Tahara
Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface. ICRA 2011: 4682-4687 - [c35]Kenji Tahara, Shingo Iwasa, Shu Naba, Motoji Yamamoto:
High-backdrivable parallel-link manipulator with continuously variable transmission. IROS 2011: 1843-1848 - [c34]Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa:
Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system. IROS 2011: 4201-4206 - [c33]Kenji Tahara
Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. MHS 2011: 469-471 - 2010
- [j8]Kenji Tahara
Reaching Movements of a Redundant Musculoskeletal Arm: Acquisition of an Adequate Internal Force by Iterative Learning and Its Evaluation through a Dynamic Damping Ellipsoid. Adv. Robotics 24(5-6): 783-818 (2010) - [j7]Suguru Arimoto, Masahiro Sekimoto
Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity. J. Robotics 2010: 217867:1-217867:15 (2010) - [c32]Hitoshi Kino
Decision Method of Internal Force for Sensorless Positioning of Musculoskeletal System. BWCCA 2010: 731-736 - [c31]Kenji Tahara
Iterative Learning Scheme for a Redundant Musculoskeletal Arm: Task Space Learning with Joint and Muscle Redundancies. BWCCA 2010: 760-765 - [c30]Kenji Tahara
External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. ICRA 2010: 4309-4314 - [c29]Kenji Tahara
Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand. ICRA 2010: 4322-4327 - [c28]Kenji Tahara
Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force. IROS 2010: 234-240 - [c27]Kazuya Matsuo, Kouji Murakami, Katsuya Niwaki, Tsutomu Hasegawa, Kenji Tahara
A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. IROS 2010: 1884-1889 - [c26]Akihiro Kawamura, Kenji Tahara
Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system. ROBIO 2010: 1542-1548
2000 – 2009
- 2009
- [j6]Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto
A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints. J. Robotics 2009: 892801:1-892801:16 (2009) - [j5]Hitoshi Kino
Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems. IEEE Trans. Robotics 25(2): 467-474 (2009) - [c25]Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa:
Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. ICAR 2009: 1-6 - [c24]Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume:
Measurement of static constraints imposed by a human hand on a grasped object. ICAR 2009: 1-6 - [c23]Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara
A riemannian-geometry approach for dynamics and control of object manipulation under constraints. ICRA 2009: 1683-1690 - [c22]Morio Yoshida, Suguru Arimoto, Kenji Tahara:
Modeling and control of a pair of robot fingers with saddle joint under orderless actuations. ICRA 2009: 2499-2505 - [c21]Hitoshi Kino
Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses. ICRA 2009: 4195-4200 - [c20]Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara
Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object. IROS 2009: 1767-1772 - [c19]Morio Yoshida, Suguru Arimoto, Kenji Tahara
Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. IROS 2009: 1805-1810 - [c18]Kenji Tahara
Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system. IROS 2009: 2257-2263 - [c17]Akihiro Kawamura, Kenji Tahara
Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system. IROS 2009: 2264-2270 - [c16]Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara, Ji-Hun Bae
Modeling and Control for 2-D Grasping of an Object with Arbitrary Shape under Rolling Contact. SyRoCo 2009: 383-388 - 2008
- [c15]Kenji Tahara
On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. ICRA 2008: 2611-2616 - [c14]Kenji Tahara
Dynamic object grasping by a triple-fingered robotic hand. IROS 2008: 2685-2690 - 2007
- [c13]Kenji Tahara
On Control for "Blind Touching" by Human-Like Thumb Robots. ICRA 2007: 592-598 - [c12]Masaki Onishi, Zhi Wei Luo, Tadashi Odashima, Shinya Hirano, Kenji Tahara
Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN. ICRA 2007: 3128-3129 - 2006
- [c11]Kenji Tahara, Zhi Wei Luo, Ryuta Ozawa, Ji-Hun Bae
Bio-mimetic Study on Pinching Motions of a Dual-finger Model with Synergistic Actuation of Antagonist Muscles. ICRA 2006: 994-999 - [c10]Tadashi Odashima, Masaki Onishi, Kenji Tahara, Kentaro Takagi, Fumihiko Asano, Yo Kato, Hiromichi Nakashima, Yuichi Kobayashi, Toshiharu Mukai, Zhi Wei Luo, Shigeyuki Hosoe:
A Soft Human-Interactive Robot RI-MAN. IROS 2006 - [c9]Kenji Tahara
On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy. IROS 2006: 1402-1409 - 2005
- [j4]Kenji Tahara
Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm. J. Field Robotics 22(11): 639-651 (2005) - [c8]Kenji Tahara
Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties. ICRA 2005: 223-228 - [c7]Kenji Tahara
Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation. IROS 2005: 517-522 - 2004
- [c6]Fumihiko Asano, Zhi Wei Luo, Kenji Tahara, Masaki Yamakita, Shigeyuki Hosoe:
Modeling and control for whole arm dynamic cooperative manipulation. IROS 2004: 3282-3287 - [c5]Fumihiko Asano, Zhi Wei Luo, Masaki Yamakita, Kenji Tahara, Shigeyuki Hosoe:
Bio-mimetic control for whole arm cooperative manipulation. SMC (1) 2004: 704-709 - 2003
- [j3]Suguru Arimoto, Morio Yoshida, Ji-Hun Bae, Kenji Tahara
Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination. J. Field Robotics 20(9) (2003) - [j2]Suguru Arimoto, Kenji Tahara
A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers. Robotica 21(2): 163-178 (2003) - [c4]Shinsuke Nakamura, Kenji Tahara, Ji-Hun Bae, Masahiro Sekimoto, Suguru Arimoto:
Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers. CIRA 2003: 1162-1167 - [c3]Ji-Hun Bae, Kenji Tahara, Shinsuke Nakamura, Suguru Arimoto:
Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers. CIRA 2003: 1219-1226 - [c2]Suguru Arimoto, Ji-Hun Bae, Kenji Tahara:
Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers. ICRA 2003: 2336-2343 - 2001
- [j1]Suguru Arimoto, Kenji Tahara
Principles of superposition for controlling pinch motions by means of robot fingers with soft tips. Robotica 19(1): 21-28 (2001) - [c1]Hyun-Yong Han, Suguru Arimoto, Kenji Tahara
Robotic Pinching by Means of a Pair of Soft Fingers with Sensory Feedback. ICRA 2001: 97-102
Coauthor Index
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