Architecture of Kukanchi Middleware. - Yuhki Ishiguro; Yoshio Maeda; Trung Ngo Lam; Takeshi Sakamoto; Makoto Mizukawa; Takashi Yoshimi; Yoshinobu Ando (URAI, 2011)

Ambiguous command understanding with commonsense. - Trung Ngo Lam; Yoshio Maeda; Haeyeon Lee; Makoto Mizukawa (RO-MAN, 2012)

Task management of object delivery service in kukanchi. - Yoshio Maeda; Takashi Yoshimi; Yoshinobu Ando; Makoto Mizukawa (SII, 2012)

Proposal of Framework Based on 4W1H and Properties of Robots and Objects for Development of Physical Service System. - Yukihiro Nakamura; Shin-yo Muto; Yoshio Maeda; Makoto Mizukawa; Manabu Motegi; Youichi Takashima (J. Robotics Mechatronics, 2014)