Technical Issues on Simulating Impulse and Friction in Three Dimensional Rigid Body Dynamics. - Katsuaki Kawachi; Hiromasa Suzuki; Fumihiko Kimura (CA, 1998)

Distance Computation between Non-Convex Polyhedra at Short Range Based on Discrete Voronoi Regions. - Katsuaki Kawachi; Hiromasa Suzuki (GMP, 2000)

A lightweight algorithm for real-time motion synthesis. - Katsuaki Kawachi; Takeo Kanade; Hiromasa Suzuki (VRST, 2004)

An actuated physical puppet as an input device for controlling a digital manikin. - Wataru Yoshizaki; Yuta Sugiura; Albert C. Chiou; Sunao Hashimoto; Masahiko Inami; Takeo Igarashi; Yoshiaki Akazawa; Katsuaki Kawachi; Satoshi Kagami; Masaaki Mochimaru (CHI, 2011)