Synthesizing a desired trajectory and sensory feedback control laws for an origami-folding robot based on the statistical characteristics of direct teaching by a human. - Kenta Tanaka; Yasuyuki Kihara; Yasuyoshi Yokokohji (ICRA, 2009)

Skill transfer from human to robot by direct teaching and task sharing - A case study with origami folding task. - Yasuyuki Kihara; Yasuyoshi Yokokohji (IFAC HMS, 2010)