Design of complementary filter for high-fidelity attitude estimation based on sensor dynamics compensation with decoupled properties. - Ken Masuya; Tomomichi Sugihara; Motoji Yamamoto (ICRA, 2012)

A dual-stage complementary filter for dead reckoning of a biped robot via estimated contact point. - Ken Masuya; Tomomichi Sugihara (Humanoids, 2013)

Dead reckoning of biped robots with estimated contact points based on the minimum velocity criterion. - Ken Masuya; Tomomichi Sugihara (IROS, 2013)

Dead reckoning of a biped robot on various terrain by Kaiman filter adaptive to ground reaction force. - Ken Masuya; Tomomichi Sugihara (Humanoids, 2014)

COM motion estimation of a Humanoid robot based on a fusion of dynamics and kinematics information. - Ken Masuya; Tomomichi Sugihara (IROS, 2015)

Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation. - Ken Masuya; Tomomichi Sugihara (Adv. Robotics, 2015)

A nonlinear complementary filter for attitude estimation with dynamics compensation of MARG sensor. - Ken Masuya; Tomomichi Sugihara (AIM, 2016)

COM motion estimation of a biped robot based on kinodynamics and torque equilibrium. - Ken Masuya; Tomomichi Sugihara (Adv. Robotics, 2016)

Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance. - Ken Masuya; Shu Ono; Kentaro Takagi; Kenji Tahara (AIM, 2017)

Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control. - Shu Ono; Ken Masuya; Kentaro Takagi; Kenji Tahara (RoboSoft, 2018)

Feedforward Control of Twisted and Coiled Polymer Actuator Based on a Macroscopic Nonlinear Model Focusing on Energy. - Ken Masuya; Shu Ono; Kentaro Takagi; Kenji Tahara (IEEE Robotics Autom. Lett., 2018)

Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback. - Ryo Hayashi; Ken Masuya; Kentaro Takagi; Toshihira Irisawa; Rui Fujino; Takuma Yamauchi; Eitaro Tanaka; Kenji Tahara (IEEE Robotics Autom. Lett., 2019)

Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback. - Kenji Tahara; Ryo Hayashi; Ken Masuya; Kentaro Takagi; Toshihira Irisawa; Takuma Yamauchi; Eitaro Tanaka (IEEE Robotics Autom. Lett., 2019)

Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane. - Ken Masuya; Kenji Tahara (AIM, 2020)

A review of state estimation of humanoid robot targeting the center of mass, base kinematics, and external wrench. - Ken Masuya; Ko Ayusawa (Adv. Robotics, 2020)

Low-Cost Coil-Shaped Optical Fiber Displacement Sensor for a Twisted and Coiled Polymer Fiber Actuator Unit. - Ken Masuya (IEEE Robotics Autom. Lett., 2020)

Novel Twisted and Coiled Polymer Fiber Actuator Fabricated From Polymer-Coated Optical Fiber. - Ken Masuya; Kenji Tahara (IEEE Robotics Autom. Lett., 2021)

Wire-Storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber. - Ken Masuya; Kentaro Takagi; Kenji Tahara (IEEE Robotics Autom. Lett., 2022)

Towards Mathematical Modeling of Tissue-Engineered Skeletal Muscle Considering Contraction-Induced Stiffness Changes. - Yoshitake Akiyama; Mizuki Nakamura; Noriyasu Iwamoto; Ken Masuya (CBS, 2024)

Systematic Design of the Time-Independent and Computable Controller Based on Zero-Division-Avoidable Smoother for a Desired Orbit in Phase Space. - Ken Masuya (IEEE Robotics Autom. Lett., 2025)