Kenji Tahara
Orcid: 0000-0003-4457-7867
According to our database1,
Kenji Tahara
authored at least 98 papers
between 2001 and 2024.
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Bibliography
2024
External Sensor-less Fingertip Force/Position Estimation Framework for a Linkage-based Under-actuated Hand with Self-locking Mechanism.
Proceedings of the IEEE/SICE International Symposium on System Integration, 2024
2023
Special issue on robot and human interactive communication 2023 (selected papers from RO-MAN 2022).
Adv. Robotics, December, 2023
Adv. Robotics, November, 2023
IEEE Trans. Robotics, October, 2023
Adv. Robotics, September, 2023
Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles.
J. Robotics Mechatronics, June, 2023
CoRR, 2023
Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand.
Proceedings of the IEEE/SICE International Symposium on System Integration, 2023
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
2022
Wire-Storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber.
IEEE Robotics Autom. Lett., 2022
End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
2021
Novel Twisted and Coiled Polymer Fiber Actuator Fabricated From Polymer-Coated Optical Fiber.
IEEE Robotics Autom. Lett., 2021
Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity.
J. Robotics Mechatronics, 2021
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, 2021
Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
2020
Development of a Visual-Tactile Fingertip Sensor and an Object Manipulation Method using a Multi-Fingered Robotic Hand.
Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, 2020
Proceedings of the 3rd IEEE International Conference on Soft Robotics, 2020
Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane.
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2020
2019
Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback.
IEEE Robotics Autom. Lett., 2019
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., 2019
Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles.
J. Robotics Mechatronics, 2019
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, 2019
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire.
J. Robotics Mechatronics, 2019
2018
Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips.
Robotica, 2018
Feedforward Control of Twisted and Coiled Polymer Actuator Based on a Macroscopic Nonlinear Model Focusing on Energy.
IEEE Robotics Autom. Lett., 2018
Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay.
Adv. Robotics, 2018
3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control.
Adv. Robotics, 2018
Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control.
Proceedings of the IEEE International Conference on Soft Robotics, 2018
Two-types Force Controllers for a Prismatic Actuation Module Redundantly Driven by Multiple Sheet-type Dielectric Elastomer Actuators.
Proceedings of the 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2018
2017
Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point.
Adv. Robotics, 2017
Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons.
Adv. Robotics, 2017
A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations.
Artif. Life Robotics, 2017
Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms.
Proceedings of the 17th IEEE-RAS International Conference on Humanoid Robotics, 2017
Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance.
Proceedings of the IEEE International Conference on Advanced Intelligent Mechatronics, 2017
2016
Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force.
Proceedings of the IECON 2016, 2016
2015
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure.
Proceedings of the IECON 2015, 2015
Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces.
Proceedings of the IECON 2015, 2015
2014
A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds.
Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, 2014
Set-point control of a musculoskeletal arm by the complementary combination of a feedforward and feedback manner.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Learning object-level impedance control for robust grasping and dexterous manipulation.
Proceedings of the 2014 IEEE International Conference on Robotics and Automation, 2014
Development of a two-link planar manipulator with continuously variable transmission mechanism.
Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014
2013
Robust Visual Servoing for Object Manipulation Against Temporary Loss of Sensory Information Using a Multi-Fingered Hand-Arm.
J. Robotics Mechatronics, 2013
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, 2013
Sensibility to Muscular Arrangement of Feedforward Position Control for Non-Pulley-Musculoskeletal System.
Proceedings of the Information Technology Convergence, 2013
Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force.
Proceedings of the 2013 IEEE Workshop on Advanced Robotics and its Social Impacts, 2013
Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system.
Proceedings of the 2013 IEEE Workshop on Advanced Robotics and its Social Impacts, 2013
2012
Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Robust visual servoing for object manipulation with large time-delays of visual information.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
2011
Adv. Robotics, 2011
Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand.
Proceedings of the International Symposium on Micro-NanoMechatronics and Human Science, 2011
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system.
Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2011
Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
Dynamic object manipulation using a multi-fingered hand-arm system: Enhancement of a grasping capability using relative attitude constraints of fingers.
Proceedings of the 15th International Conference on Advanced Robotics: New Boundaries for Robotics, 2011
2010
Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity.
J. Robotics, 2010
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, 2010
Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system.
Proceedings of the 2010 IEEE International Conference on Robotics and Biomimetics, 2010
Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
A tactile sensing for estimating the position and orientation of a joint-axis of a linked object.
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010
External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Iterative Learning Scheme for a Redundant Musculoskeletal Arm: Task Space Learning with Joint and Muscle Redundancies.
Proceedings of the Fifth International Conference on Broadband and Wireless Computing, 2010
Decision Method of Internal Force for Sensorless Positioning of Musculoskeletal System.
Proceedings of the Fifth International Conference on Broadband and Wireless Computing, 2010
2009
Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems.
IEEE Trans. Robotics, 2009
A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints.
J. Robotics, 2009
Modeling and Control for 2-D Grasping of an Object with Arbitrary Shape under Rolling Contact.
Proceedings of the 9th IFAC Symposium on Robot Control, SyRoCo 2009, Gifu, Japan, 2009
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, 2009
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, 2009
Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system.
Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009
Modeling and control of a pair of robot fingers with saddle joint under orderless actuations.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
A riemannian-geometry approach for dynamics and control of object manipulation under constraints.
Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009
Proceedings of the 14th International Conference on Advanced Robotics, 2009
Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands.
Proceedings of the 14th International Conference on Advanced Robotics, 2009
2008
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
2007
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
Proceedings of the 2007 IEEE International Conference on Robotics and Automation, 2007
2006
On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
Bio-mimetic Study on Pinching Motions of a Dual-finger Model with Synergistic Actuation of Antagonist Muscles.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006
2005
Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm.
J. Field Robotics, 2005
Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation.
Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005
Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005
2004
Proceedings of the IEEE International Conference on Systems, 2004
Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, September 28, 2004
2003
A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers.
Robotica, 2003
Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination.
J. Field Robotics, 2003
Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers.
Proceedings of the 2003 IEEE International Conference on Robotics and Automation, 2003
Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers.
Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium, 2003
Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers.
Proceedings of the IEEE International Symposium on Computational Intelligence in Robotics and Automation: Computational Intelligence in Robotics and Automation for the New Millennium, 2003
2001
Principles of superposition for controlling pinch motions by means of robot fingers with soft tips.
Robotica, 2001
Proceedings of the 2001 IEEE International Conference on Robotics and Automation, 2001