Robotic Pinching by Means of a Pair of Soft Fingers with Sensory Feedback. - Hyun-Yong Han; Suguru Arimoto; Kenji Tahara; Mitsuharu Yamaguchi; Pham Thuc Anh Nguyen (ICRA, 2001)

Principles of superposition for controlling pinch motions by means of robot fingers with soft tips. - Suguru Arimoto; Kenji Tahara; Mitsuharu Yamaguchi; Pham Thuc Anh Nguyen; M.-Y. Han (Robotica, 2001)

Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers. - Ji-Hun Bae; Kenji Tahara; Shinsuke Nakamura; Suguru Arimoto (CIRA, 2003)

Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers. - Shinsuke Nakamura; Kenji Tahara; Ji-Hun Bae; Masahiro Sekimoto; Suguru Arimoto (CIRA, 2003)

Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers. - Suguru Arimoto; Ji-Hun Bae; Kenji Tahara (ICRA, 2003)

Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination. - Suguru Arimoto; Morio Yoshida; Ji-Hun Bae; Kenji Tahara (J. Field Robotics, 2003)

A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers. - Suguru Arimoto; Kenji Tahara; Ji-Hun Bae; Morio Yoshida (Robotica, 2003)

Modeling and control for whole arm dynamic cooperative manipulation. - Fumihiko Asano; Zhi Wei Luo; Kenji Tahara; Masaki Yamakita; Shigeyuki Hosoe (IROS, 2004)

Bio-mimetic control for whole arm cooperative manipulation. - Fumihiko Asano; Zhi Wei Luo; Masaki Yamakita; Kenji Tahara; Shigeyuki Hosoe (SMC (1), 2004)

Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties. - Kenji Tahara; Zhi Wei Luo; Suguru Arimoto; Hitoshi Kino (ICRA, 2005)

Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation. - Kenji Tahara; Zhi Wei Luo; Suguru Arimoto; Hitoshi Kino (IROS, 2005)

Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm. - Kenji Tahara; Zhi Wei Luo; Suguru Arimoto; Hitoshi Kino (J. Field Robotics, 2005)

Bio-mimetic Study on Pinching Motions of a Dual-finger Model with Synergistic Actuation of Antagonist Muscles. - Kenji Tahara; Zhi Wei Luo; Ryuta Ozawa; Ji-Hun Bae; Suguru Arimoto (ICRA, 2006)

A Soft Human-Interactive Robot RI-MAN. - Tadashi Odashima; Masaki Onishi; Kenji Tahara; Kentaro Takagi; Fumihiko Asano; Yo Kato; Hiromichi Nakashima; Yuichi Kobayashi; Toshiharu Mukai; Zhi Wei Luo; Shigeyuki Hosoe (IROS, 2006)

On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy. - Kenji Tahara; Zhi Wei Luo; Suguru Arimoto (IROS, 2006)

Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN. - Masaki Onishi; Zhi Wei Luo; Tadashi Odashima; Shinya Hirano; Kenji Tahara; Toshiharu Mukai (ICRA, 2007)

On Control for "Blind Touching" by Human-Like Thumb Robots. - Kenji Tahara; Suguru Arimoto; Zhi Wei Luo; Morio Yoshida (ICRA, 2007)

On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. - Kenji Tahara; Suguru Arimoto; Masahiro Sekimoto; Morio Yoshida; Zhi Wei Luo (ICRA, 2008)

Dynamic object grasping by a triple-fingered robotic hand. - Kenji Tahara; Suguru Arimoto; Morio Yoshida (IROS, 2008)

Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (ICAR, 2009)

Measurement of static constraints imposed by a human hand on a grasped object. - Kazuya Matsuo; Kouji Murakami; Tsutomu Hasegawa; Kenji Tahara; Ryo Kurazume (ICAR, 2009)

A riemannian-geometry approach for dynamics and control of object manipulation under constraints. - Suguru Arimoto; Morio Yoshida; Masahiro Sekimoto; Kenji Tahara (ICRA, 2009)

Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses. - Hitoshi Kino; Shiro Kikuchi; Toshiaki Yahiro; Kenji Tahara (ICRA, 2009)

Modeling and control of a pair of robot fingers with saddle joint under orderless actuations. - Morio Yoshida; Suguru Arimoto; Kenji Tahara (ICRA, 2009)

Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (IROS, 2009)

Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object. - Kazuya Matsuo; Kouji Murakami; Tsutomu Hasegawa; Kenji Tahara; Ryo Kurazume (IROS, 2009)

Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system. - Kenji Tahara; Suguru Arimoto; Morio Yoshida (IROS, 2009)

Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. - Morio Yoshida; Suguru Arimoto; Kenji Tahara (IROS, 2009)

Modeling and Control for 2-D Grasping of an Object with Arbitrary Shape under Rolling Contact. - Suguru Arimoto; Morio Yoshida; Masahiro Sekimoto; Kenji Tahara; Ji-Hun Bae (SyRoCo, 2009)

A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints. - Suguru Arimoto; Morio Yoshida; Masahiro Sekimoto; Kenji Tahara (J. Robotics, 2009)

Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems. - Hitoshi Kino; Toshiaki Yahiro; Shohei Taniguchi; Kenji Tahara (IEEE Trans. Robotics, 2009)

Decision Method of Internal Force for Sensorless Positioning of Musculoskeletal System. - Hitoshi Kino; Shiro Kikuchi; Kenji Tahara (BWCCA, 2010)

Iterative Learning Scheme for a Redundant Musculoskeletal Arm: Task Space Learning with Joint and Muscle Redundancies. - Kenji Tahara; Hitoshi Kino (BWCCA, 2010)

Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand. - Kenji Tahara; Suguru Arimoto; Morio Yoshida (ICRA, 2010)

External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. - Kenji Tahara; Keigo Maruta; Motoji Yamamoto (ICRA, 2010)

A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. - Kazuya Matsuo; Kouji Murakami; Katsuya Niwaki; Tsutomu Hasegawa; Kenji Tahara; Ryo Kurazume (IROS, 2010)

Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force. - Kenji Tahara; Hitoshi Kino (IROS, 2010)

Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (ROBIO, 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. - Kenji Tahara; Hitoshi Kino (Adv. Robotics, 2010)

Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity. - Suguru Arimoto; Masahiro Sekimoto; Kenji Tahara (J. Robotics, 2010)

Dynamic object manipulation using a multi-fingered hand-arm system: Enhancement of a grasping capability using relative attitude constraints of fingers. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (ICAR, 2011)

Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface. - Kenji Tahara; Suguru Arimoto (ICRA, 2011)

Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (IROS, 2011)

High-backdrivable parallel-link manipulator with continuously variable transmission. - Kenji Tahara; Shingo Iwasa; Shu Naba; Motoji Yamamoto (IROS, 2011)

Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. - Kenji Tahara; Keigo Maruta; Motoji Yamamoto (MHS, 2011)

Biomimetic Pinching Movements of a Musculo-Skeletal Dual-Finger Model. - Kenji Tahara; Suguru Arimoto; Ryuta Ozawa; Zhi Wei Luo (Adv. Robotics, 2011)

Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints. - Kenji Tahara; Keigo Maruta; Akihiro Kawamura; Motoji Yamamoto (ICRA, 2012)

Robust visual servoing for object manipulation with large time-delays of visual information. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (IROS, 2012)

Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness. - Kenji Tahara; Yuta Kuboyama; Ryo Kurazume (IROS, 2012)

Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. - Hitoshi Kino; Hiroaki Ochi; Kenji Tahara; Yuki Matsutani; Ryota Ishibashi (ARSO, 2013)

Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force. - Yuki Matsutani; Hiroaki Ochi; Hitoshi Kino; Kenji Tahara; Motoji Yamamoto (ARSO, 2013)

Sensibility to Muscular Arrangement of Feedforward Position Control for Non-Pulley-Musculoskeletal System. - Hitoshi Kino; Shiro Kikuchi; Yuki Matsutani; Kenji Tahara (ITCS, 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. - Hitoshi Kino; Shiro Kikuchi; Yuki Matsutani; Kenji Tahara; Takahiro Nishiyama (Adv. Robotics, 2013)

Robust Visual Servoing for Object Manipulation Against Temporary Loss of Sensory Information Using a Multi-Fingered Hand-Arm. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (J. Robotics Mechatronics, 2013)

Dynamic grasping of an arbitrary polyhedral object. - Akihiro Kawamura; Kenji Tahara; Ryo Kurazume; Tsutomu Hasegawa (Robotica, 2013)

Development of a two-link planar manipulator with continuously variable transmission mechanism. - Tomofumi Okada; Kenji Tahara (AIM, 2014)

Learning object-level impedance control for robust grasping and dexterous manipulation. - Miao Li 002; Hang Yin 001; Kenji Tahara; Aude Billard (ICRA, 2014)

Set-point control of a musculoskeletal arm by the complementary combination of a feedforward and feedback manner. - Yuki Matsutani; Kenji Tahara; Hitoshi Kino; Hiroaki Ochi; Motoji Yamamoto (ICRA, 2014)

A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds. - Ryota Ishibashi; Hiroaki Ochi; Takahiko Oda; Ryuji Okuda; Katsuya Umeda; Kenji Tahara; Hitoshi Kino; Akira Kojima (ROBIO, 2014)

Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces. - Tetsuya Morizono; Kenji Tahara; Hitoshi Kino (IECON, 2015)

Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. - Hiroaki Ochi; Hitoshi Kino; Kenji Tahara; Yuki Matsutani (IECON, 2015)

Grasp stability evaluation based on energy tolerance in potential field. - Tokuo Tsuji; Kosei Baba; Kenji Tahara; Kensuke Harada; Ken'ichi Morooka; Ryo Kurazume (IROS, 2015)

Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. - Kenji Tahara; Yuki Matsutani; Daisuke Nakagawa; Masataka Sato; Hitoshi Kino (IECON, 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)

Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. - Yuki Matsutani; Kenji Tahara; Hitoshi Kino; Hiroaki Ochi (Humanoids, 2017)

A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations. - Tetsuya Morizono; Kenji Tahara; Hitoshi Kino (Artif. Life Robotics, 2017)

Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons. - Hitoshi Kino; Hiroaki Ochi; Yuki Matsutani; Kenji Tahara (Adv. Robotics, 2017)

Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point. - Ryuta Ozawa; Kenji Tahara (Adv. Robotics, 2017)

Two-types Force Controllers for a Prismatic Actuation Module Redundantly Driven by Multiple Sheet-type Dielectric Elastomer Actuators. - Hiroki Kubota; Kenji Tahara (AIM, 2018)

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)

3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control. - Hitoshi Kino; Tsubasa Yoshitake; R. Wada; Kenji Tahara; Kenta Tsuda (Adv. Robotics, 2018)

Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay. - Yuki Matsutani; Kenji Tahara; Hitoshi Kino; Hiroaki Ochi (Adv. Robotics, 2018)

Learning task manifolds for constrained object manipulation. - Miao Li 002; Kenji Tahara; Aude Billard (Auton. Robots, 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)

Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips. - Efi Psomopoulou; Daiki Karashima; Zoe Doulgeri; Kenji Tahara (Robotica, 2018)

Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire. - Hitoshi Kino; Naofumi Mori; Shota Moribe; Kazuyuki Tsuda; Kenji Tahara (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. - Yuki Matsutani; Kenji Tahara; Hitoshi Kino (J. Robotics Mechatronics, 2019)

Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles. - Tetsuya Morizono; Kenji Tahara; Hitoshi Kino (J. Robotics Mechatronics, 2019)

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)

Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper. - Sumitaka Honji; Kenji Tahara (RoboSoft, 2020)

Development of a Visual-Tactile Fingertip Sensor and an Object Manipulation Method using a Multi-Fingered Robotic Hand. - Seunghyun Choi; Kenji Tahara (SII, 2020)

Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers. - Takuto Fujiki; Kenji Tahara (ICRA, 2021)

Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System. - Yuki Matsutani; Kenji Tahara; Hitoshi Kino (Frontiers Robotics AI, 2021)

Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity. - Hitoshi Kino; Hiroaki Ochi; Kenji Tahara (J. Robotics Mechatronics, 2021)

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

End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy. - Shoki Tsuboi; Hitoshi Kino; Kenji Tahara (IROS, 2022)

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)

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. - Ha Thang Long Doan; Hikaru Arita; Kenji Tahara (IROS, 2023)

Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand. - Ha Thang Long Doan; Kenji Tahara (SII, 2023)

Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior. - Sumitaka Honji; Hikaru Arita; Kenji Tahara (CoRR, 2023)

Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles. - Hiroaki Ochi; Koichi Komada; Kenji Tahara; Hitoshi Kino (J. Robotics Mechatronics, 2023)

Variable end-point viscoelasticity control for a musculoskeletal redundant arm. - Shoki Tsuboi; Hikaru Arita; Hitoshi Kino; Kenji Tahara (Adv. Robotics, 2023)

Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control. - Hikaru Arita; Hayato Nakamura; Takuto Fujiki; Kenji Tahara (IEEE Trans. Robotics, 2023)

Stochastic approach for modeling soft fingers with creep behavior. - Sumitaka Honji; Hikaru Arita; Kenji Tahara (Adv. Robotics, 2023)

Special issue on robot and human interactive communication 2023 (selected papers from RO-MAN 2022). - Gentiane Venture; Kenji Tahara; Natsuki Yamanobe; Shingo Shimoda; Masahiro Shiomi (Adv. Robotics, 2023)

Proposal of Feedforward Trajectory Control with Iterative Learning for a Musculoskeletal System. - Kazuki Senda; Koichi Komada; Tetsuya Morizono; Yuki Matsutani; Kenji Tahara; Hitoshi Kino (AMC, 2024)

Effect of Presenting Stiffness of Robot Hand to Human on Human-Robot Handovers. - Junya Yamamoto; Kenji Tahara; Takahiro Wada (ROBIO, 2024)

State Estimation of a Soft Robotic Finger with Dynamic Effect of Parameter Uncertainty. - Sumitaka Honji; Hikaru Arita; Kenji Tahara (RoboSoft, 2024)

External Sensor-less Fingertip Force/Position Estimation Framework for a Linkage-based Under-actuated Hand with Self-locking Mechanism. - Ha Thang Long Doan; Hikaru Arita; Kenji Tahara (SII, 2024)

Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control. - Shunsuke Tokiwa; Hikaru Arita; Yosuke Suzuki; Kenji Tahara (IEEE Robotics Autom. Lett., 2024)

Multi-fingered Robotic Hand with Shape Flexibility for Expanding the Feasible Range of In-hand Manipulation. - Masato Morita; Hikaru Arita; Ayato Kanada; Kenji Tahara (SII, 2025)

A Survey on Path Planning Problem of Rolling Contacts: Approaches, Applications and Future Challenges. - Seyed Amir Tafrishi; Mikhail M. Svinin; Kenji Tahara (CoRR, 2025)

State Estimation and Environment Recognition for Articulated Structures via Proximity Sensors Distributed Over the Whole Body. - Kengo Iwao; Hikaru Arita; Kenji Tahara (IEEE Robotics Autom. Lett., 2025)

Optimization of Preemptive Impact Mitigation Without Prior Collision Testing. - Hayato Nakamura; Hikaru Arita; Shunsuke Tokiwa; Kenji Tahara (IEEE Robotics Autom. Lett., 2025)