Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions. - Keisuke Ichida; Keigo Watanabe; Kiyotaka Izumi; Nobuhiro Uchida (IROS, 2006)

Cost-function analysis of optimizing fuzzy-energy regions in the control of underactuated manipulators. - Kiyotaka Izumi; Keisuke Ichida; Keigo Watanabe (Artif. Life Robotics, 2006)

Control of three-link underactuated manipulators using a switching method of fuzzy energy regions. - Keisuke Ichida; Kiyotaka Izumi; Keigo Watanabe; Nobuhiro Uchida (Artif. Life Robotics, 2008)

Monotonic Decreasing Energy and Switching Control for Underactuated Manipulators. - Kiyotaka Izumi; Keisuke Ichida; Keigo Watanabe; Yuichi Kamada (Intelligent Unmanned Systems, 2009)