Japanese English

Torsional Finger


ACADEMIC QUALIFICATIONS

CAREER


PUBLICATIONS

JOURNAL PAPERS
  1. H. Ochi, H. Kino, K. Tahara, and Y. Matsutani,  New
    "Geometric conditions of a two-link-and-six muscle structure based on internal force stability,"
    ROBOMECH Journal, vol. 7, no. 17, 2020. (DOI: 10.1186/s40648-020-00164-3)
  2. S.-H. Choi and K. Tahara,  New
    "Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors,"
    ROBOMECH Journal, vol. 7, no. 14, 2020. (DOI: 10.1186/s40648-020-00162-5)
  3. Y. Matsutani, K. Tahara, and H. Kino,
    "Set-point control of a muscluroskeletal system under gravity by a combination of feed-forward and feedback manners considering output limitation of muscular forces,"
    Journal of Robotics and Mechatronics, vol. 31, no. 4, 2019. (DOI: 10.20965/jrm.2019.p0612)
  4. H. Kino, N. Mori, S. Moribe, K. Tsuda, and K. Tahara,
    "Experiment verification and stability analysis of iterative learning control for shape memory alloy wire,"
    Journal of Robotics and Mechatronics, vol. 31, no. 4, 2019. (DOI: 10.20965/jrm.2019.p0583)
  5. R. Hayashi, K. Masuya, K. Takagi, T. Irisawa, R. Fujino, T. Yamauchi, E. Tanaka, and K. Tahara,
    "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 and Automation Letters, vol. 4, no. 3, pp. 2561--2567, 2019. (DOI: 10.1109/LRA.2019.2908484)
  6. K. Tahara, R. Hayashi, K. Masuya, K. Takagi, T. Irisawa, T. Yamauchi, and E. Tanaka,
    "Rotational angle control of a twisted polymeric fiber actuator by an estimated temperature feedback,"
    IEEE Robotics and Automation Letters, vol. 4, no. 3, pp. 2447--2454, 2019. (DOI: 10.1109/LRA.2019.2901982)
  7. T. Morizono, K. Tahara, and H. Kino,
    "Choice of muscular forces for motion control of a robot arm with biarticular muscles,"
    Journal of Robotics and Mechatronics, vol. 31, no. 1, pp. 143--155, 2019. (DOI: 10.20965/jrm.2019.p0143)
  8. H. Kino, T. Yoshitake, R. Wada, and K. Tahara,
    "3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control,"
    Advanced Robotics, vol. 32, Issue 14, pp. 766--777, 2018. (DOI: 10.1080/01691864.2018.1493397)
  9. Y. Matsutani, K. Tahara, H. Kino, and H. Ochi,
    "Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay,"
    Advanced Robotics, vol. 32, Issue 8, pp. 411--425, 2018. (DOI: 10.1080/01691864.2018.1453375)
  10. K. Masuya, S. Ono, K. Takagi and K. Tahara,
    "Feedforward control of twisted and coiled polymer actuator based on a macroscopic nonlinear model focusing on energy,"
    IEEE Robotics and Automation Letters, vol. 3, Issue 3, 1824--1831, 2018. (DOI: 10.1109/LRA.2018.2801884)
  11. K. Masuya, S. Ono, K. Takagi and K. Tahara,
    "Modeling framework for macroscopic dynamics of twisted and coiled polymer actuator driven by Joule heating focusing on energy and convective heat transfer,"
    Sensors and Actuators, A: Physical, vol. 267, pp. 443--454, 2017. (DOI: 10.1016/j.sna.2017.10.016)
  12. R. Ozawa and K. Tahara,
    "Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point,"
    Advanced Robotics, pp. 1--21, 2017. (DOI: 10.1080/01691864.2017.1365011)
  13. H. Kino, H. Ochi, Y. Matsutani and K.Tahara,
    "Sensorless Point-to-point control for a musculoskeletal tendon-driven manipulator: Analysis of a two-DOF planar system with six tendons,"
    Advanced Robotics, vol. 31, issue 6, pp. 851-864, 2017. (DOI: 10.1080/01691864.2017.13722122017)
  14. E. Psomopoulou, D. Karashima, Z. Doulgeri and K. Tahara,
    "Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips,"
    Robotica, pp. 1--21, 2017. (DOI: 10.1017/S0263574717000303)
  15. M. Li, K. Tahara and A. Billard,
    "Learning task manifolds for constrained object manipulation,"
    Autonomous Robots, pp. 1--16, 2017. (DOI: 10.1007/s10514-017-9643-z)
  16. T. Morizono, K. Tahara and H. Kino,
    "A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations,"
    Artificial Life and Robotcs, vol. 22, issue 1, pp. 74--82, 2016. (DOI: 10.1007/s10015-016-0322-5)
  17. H. Kino, S. Kikuchi, Y. Matsutani, K. Tahara and T. Nishiyama,
    "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,"
    Advanced Robotics, vol. 27, no. 16, pp. 1235--1248, 2013. (DOI: 10.1080/01691864.2013.824133)
  18. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Dynamic grasping of an arbitrary polyhedral object,"
    Robotica, vol. 31, no. 4, pp. 511--523, 2013. (DOI: 10.1017/S0263574712000525)
  19. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Robust visual servoing for object manipulation against temporary loss of sensory information using a multi-fingered hand-arm,"
    Journal of Robotics and Mechatronics, vol. 25, no. 1, pp. 125--135, 2013. (DOI: 10.20965/jrm.2013.p0125)
  20. K. Tahara, S. Arimoto, R. Ozawa and Z.W. Luo,
    "Bio-mimetic pinching movements of musculo-skeletal dual finger model,"
    Advanced Robotics, vol. 25, no. 1-2, pp. 175--204, 2011. (DOI: 10.1163/016918610X538543)
  21. S. Arimoto, M. Sekimoto and K. Tahara,
    "Iterative learning without reinforcement or reward for multi-joint movements: A revisit of Bernstein’s DOF problem on dexterity,"
    Journal of Robotics, vol. 2010, Article ID: 217867, 2010. (DOI: 10.1155/2010/217867)
  22. K. Tahara and H. Kino,
    "Reaching movements of a redundant musculoskeletal arm: Acquisition of an adequate internal force by iterative learning and its evaluation through a dynamic damping ellipsoid,"
    Advanced Robotics, vol. 24, no. 5-6, pp. 783--818, 2010. (DOI: 10.1163/016918610X493615)
  23. K. Tahara, S. Arimoto, M. Sekimoto and Z.W. Luo,
    "On control of reaching movements for musculo-skeletal redundant arm model,"
    Applied Bionics and Biomechanics, vol. 6, no. 1, pp. 57--72, 2009. (DOI: 10.1080/11762320902789848)
  24. H. Kino, T. Yahiro, S. Taniguchi and K. Tahara,
    "Sensorless position control using feedforward internal force for completely restrained parallel-wire-driven systems,"
    IEEE Transactions on Robotics, vol. 25, issue 2, pp. 467--474, 2009. (DOI: 10.1109/TRO.2009.2013495)
  25. S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
    "Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact,"
    SICE Journal of Control, Measurement, and System Integration, vol. 2, no. 6, pp. 379--386, 2009. (DOI: 10.9746/jcmsi.2.379)
  26. S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
    "A Riemannian-geometry approach for control of robotic systems under constraints,"
    SICE Journal of Control, Measurement, and System Integration, vol. 2, no. 2, pp. 107--116, 2009. (DOI: 10.9746/jcmsi.2.107)
  27. S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
    "A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints,"
    Journal of Robotics, vol. 2009, Article ID: 892801, 2009. (DOI: 10.1155/2009/892801)
  28. K. Tahara, Z.W. Luo, S. Arimoto and H. Kino.
    "Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm,"
    Journal of Robotic Systems, vol. 22, no. 11, pp .639--651, 2005. (DOI: 10.1002/rob.20089)
  29. S. Arimoto, M. Yoshida, J.H. Bae and K. Tahara,
    "Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination,"
    Journal of Robotic Systems, vol. 20, no. 9, pp. 517--537, 2003. (DOI: 10.1002/rob.10102)
  30. S. Arimoto, K. Tahara and J.H. Bae,
    "A stability theory on a manifold: Concurrent realization of grasp and orientation control of an object by a pair of robot fingers,"
    Robotica, vol. 21, no. 2, pp. 163--178, 2003. (DOI: 10.1017/S026357470200468X)
  31. S. Arimoto, K. Tahara, M. Yamaguchi, P.T.A. Nguyen and H.Y. Han,
    "Principle of superposition for controlling pinch motions by means of robot fingers with soft tips,"
    Robotica, vol. 19, no. 1, pp. 21--28, 2001. (DOI: 10.1017/S0263574700002939)
BOOKS
  1. K. Takagi, N. Kamamichi, K. Masuya, K. Tahara, T. Irisawa and K. Asaka,New
    "Cahpter 26: Modeling and Control of Fishing-line/Sewing-thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs),"
    K. Asaka and H. Okuzaki (Eds.): Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 2nd Ed.
    Springer-Verlag. (in print)
  2. K. Tahara and A. Kawamura,
    "Chapter 9: A Grasping and Manipulation Scheme That is Robust Against Time Delays of Sensing Information: An Application of a Controller Based on Finger-Thumb Opposability,"
    T. Watanabe, K. Harada and M. Tada (Eds.): Human Inspired Dexterity in Robotic Manipulation, 1st Ed.
    Academic Press(2018/7)ISBN:0-128-13385-9.
  3. K. Tahara and Z.W. Luo,
    "On dynamic control mechanisms of redundant human musculo-skeletal system,"
    S. Kawamura and M. Svinin (Eds.): Advances in Robot Control --From Everyday Physics to Human-Like Movements--, pp. 217-247, 2006.
    Springer-Verlag (2006/11), ISBN:3-540-37346-2.

  4. K. Tahara, M. Yamaguchi, P.T.A. Nguyen, H.-Y. Han and S. Arimoto,
    "Stable grasping and posture control for a pair of robot fingers with soft tips,"
    E. Arai, T. Arai, M. Takano (Eds.): Human Friendly Mechatronics: Selected Papers of the International Conference on Machine Automation, pp. 291-296, 2000.
    Elsevier Science (2001/03), ISBN:0-444-50649-7.


CONFERENCE PROCEEDINGS
  1. H. Tanizaki, K. Takagi, C. Oiwa, K. Masuya, K. Tahara, T. Irisawa, M. Shioya, and K. Asaka,New
    "Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator,"
    Proc. SPIE Electroactive Polymer Actuators and Devices, 109660U, Mar. 2019.
  2. T. Tsuji, H. Seki, D. Inada, K. Morooka, K. Harada, K. Tahara, M. Hikizu and H. Seki,
    "Grasp synergy analysis based on contact area of fingers using thermal signatures,"
    Proc. SICE Annual Conference, Sep. 2018.
  3. H. Kubota and K. Tahara,
    "Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators,"
    Proc. IEEE/ASME Int. Conf. Adv. Intell. Mech., pp. 539--544, Auckland, New Zealand, Jul. 2018.
  4. S. Ono, K, Masuya, K. Takagi and K. Tahara,
    "Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control,"
    Proc. IEEE-RAS Int. Conf. Soft Robotics, pp. 467--472, Livorno, Italy, Apr. 2018.
  5. C. Oiwa, K. Masuya, K. Tahara, T. Irisawa, M. Shioya, T. Yamauchi, E. Tanaka, K. Asaka and K. Takagi,
    "Gray-box modeling and control of torsional fishing-line artificial muscle actuators,"
    Proc. SPIE Electroactive Polymer Actuators and Devices, 1059428, Mar. 2018.
  6. K. Masuya, S. Ono, K. Takagi and K. Tahara,
    "Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance,"
    Proc. IEEE/ASME Int. Conf. Adv. Intell. Mech. (AIM'17), pp. 779--784, Munich, Germany, Jul. 2017.
  7. K. Takagi, T. Arakawa, J. Takeda, K. Masuya, K. Tahara and K. Asaka,
    "Position control of twisted and coiled polymer actuator using acontrolled fan for cooling,"
    Proc. SPIE Electroactive Polymer Actuators and Devices, 101632V, Apr. 2017.
  8. K. Tahara, Y. Matsutani, D. Nakagawa, M. Sato and H. Kino,
    "Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force,"
    Proc. 42nd Annual Conf. of the IEEE Industrial Electronics Society (IECON'16), pp. 815--820, Florence, Italy, Oct. 2016.
  9. T. Arakawa, K. Takagi, K. Tahara and K. Asaka,
    "Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread,"
    Proc. SPIE Electroactive Polymer Actuators and Devices, 97982W, Apr. 2016.
  10. H. Ochi, H. Kino, K. Tahara and Y. Matsutani,
    "Geometric conditions for feedforward positioning of musculoskeletal tendon-driven structure,"
    Proc. 41st Annual Conf. of the IEEE Industrial Electronics Society (IECON'15), pp. 1109--1114, Yokohama, Japan, Nov. 2015.
  11. T. Morizono, K. Tahara and H. Kino,
    "Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces,"
    Proc. 41st Annual Conf. of the IEEE Industrial Electronics Society (IECON'15), pp. 3573--3578, Yokohama, Japan, Nov. 2015.
  12. T. Tsuji, K. Baba, K. Tahara, K. Harada K. Morooka and R. Kurazume,
    "Grasp stability evaluation based on energy tolerance in potential field,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'15), pp. 2311--2316, Hamburg, Germany, Sept. 2015.
  13. T. Tsuji, K. Baba, K. Tahara, K. Harada K. Morooka and R. Kurazume,
    "Grasp stability analysis for elastic fingertips by using potential energy,"
    Proc. 2014 IEEE/SICE Int. Symp. System Integration (SII'14), pp. 453--458, Tokyo, Japan, Dec. 2014.
  14. T. Okada and K. Tahara,
    "Development of a two-link planar manipulator with continuously variable transmission mechanism,"
    Proc. IEEE/ASME Int. Conf. Adv. Intell. Mech. (AIM'14), pp. 617--622, Besançon, France, Jul. 2014.
  15. Y. Matsutani, K. Tahara, H. Kino, H. Ochi and M. Yamamoto,
    "Set-point control of a musculoskeletal arm by the complementary combination of a feedforward and feedback Manner,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'14), pp. 5908--5914 , Hong Kong, China, Jun. 2014.
  16. M. Li, H. Yin, K. Tahara and A. Billard,
    "Learning object-level impedance control for robust grasping and dexterous manipulation,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'14), pp. 6784--6791 , Hong Kong, China, Jun. 2014.
  17. K. Tahara, Y. Kuboyama and R. Kurazume,
    "Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'12), pp. 4620--4625, Vilamoura, Portugal, Oct. 2012.
  18. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Robust visual servoing for object manipulation with large time-delays of visual information,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'12), pp. 4797--4803, Vilamoura, Portugal, Oct. 2012.
  19. R. Ishibashi, T. Oda, K. Tahara, H. Kino and A. Kojima,
    "Parallel system using V-shaped shape memory alloy actuator,"
    Proc. SICE Annual Conference 2012, pp.1745--1750, Akita, Japan, Aug. 2012.
  20. K. Tahara, K. Maruta, A. Kawamura and M. Yamamoto,
    "Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'12), pp. 3252--3257 , St. Paul, MN, May 2012.
  21. K. Tahara, K. Maruta and M. Yamamoto,
    "Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand,"
    Proc. Int. Symp. Micro-Nano Mechatronics and Human Science (MHS'11), pp. 469--471 , Nagoya, Japan, Nov. 2011.
  22. K. Tahara, S. Iwasa, S. Naba and M. Yamamoto,
    "High-backdrivable parallel-link manipulator with continuously variable transmission,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'11), pp. 1843--1848 , San Francisco, CA, Sep. 2011.
  23. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'11), pp. 4201--4206 , San Francisco, CA, Sep. 2011.
  24. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Dynamic object manipulation using a multi-fingered hand-arm system: Enhancement of a grasping capability using relative attitude constraints of fingers,"
    Proc. Int. Conf. Adv. Robot. (ICAR'11), pp. --, Tallinn, Estonia, Jun. 2011.
    A Finalist of Best Student Paper Award in ICAR'11 (Mr. Kawamura)
  25. K. Tahara and S. Arimoto,
    "Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'11), pp. 4682--4687, Shanghai, China, May 2011.
    The travel expense for attending ICRA'11 was supported in part by The NSK Foundation for the Advancement of Mechatronics.

  26. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system,"
    Proc. IEEE Int. Conf. Robot. Biomim. (ROBIO'10), pp. 1542--1548, Tiangin, China, Dec. 2010.
  27. K. Tahara and H. Kino,
    "Iterative learning scheme for a redundant musculoskeletal arm: Learning in task space with both muscle and joint redundancies,"
    Proc. Int. Workshop on Robot Interaction, Control, Communication and Cooperation (RI3C'10), pp. 760--765, Fukuoka, Japan, Nov. 2010.
  28. H. Kino, S. Kikuchi and K. Tahara,
    "Decision method of internal force for sensorless positioning of musculoskeletal system,"
    Proc. Int. Workshop on Robot Interaction, Control, Communication and Cooperation (RI3C'10), pp. 731--736, Fukuoka, Japan, Nov. 2010.
  29. K. Tahara and H. Kino,
    "Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'10), pp. 234--240, Taipei, Taiwan, Oct. 2010.
  30. K. Matsuo, K. Murakami, K. Niwaki, T. Hasegawa, K. Tahara and R. Kurazume,
    "A tactile sensing for estimating the position and orientation of a joint-axis of a linked object,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'10), pp. 1884--1889, Taipei, Taiwan, Oct. 2010.
  31. A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
    "Dexterous object manipulation by a human-like hand-arm system with unified controller,"
    Proc. Int. Conf. Applied Bionics and Biomechanics (ICABB'10), CD-ROM, Venice, Italy, Oct. 2010.
  32. K. Tahara, K. Maruta, and M. Yamamoto,
    "External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'10), pp. 4309--4314, Anchorage, AK, May 2010.
  33. K. Tahara, S. Arimoto, and M. Yoshida,
    "Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'10), pp. 4322--4327, Anchorage, AK, May 2010.
  34. K. Tahara, S. Arimoto, and M. Yoshida,
    "Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 2257--2263, St. Louis, MO, Oct. 2009.
  35. A. Kawamura, K. Tahara, R. Kurazume, and T. Hasegawa,
    "Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm System,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 2264--2270, St. Louis, MO, Oct. 2009.
  36. M. Yoshida, S. Arimoto and K. Tahara,
    "Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 1805--1810, St. Louis, MO, Oct. 2009.
  37. K. Matsuo, K. Murakami, T. Hasegawa, K. Tahara and R. Kurazume,
    "Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 1767--1772, St. Louis, MO, Oct. 2009.
  38. S. Arimoto, M. Yoshida, M. Sekimoto, K. Tahara and J.-H. Bae,
    "Modeling and control for 2-D grasping of an object with arbitrary shape under rolling contact,"
    Proc. IFAC Symp. Robot Control (SYROCO'09), Gifu, Japan, Sep. 2009.
  39. M. Yoshida, S. Arimoto and K. Tahara,
    "Manipulation of 2D object with arbitrary shape by two robot finger under rolling constraint,"
    Proc. ICROS-SICE Int. Joint Conf. (ICCAS-SICE'09), Fukuoka, Japan, Aug. 2009.
  40. M. Yoshida, S. Arimoto, and K. Tahara,
    "Modeling and control of pinching 2D object with arbitrary shape by a pair of robot fingers under rolling constraints,"
    Proc. Multibody Dynamics, ECCOMAS Thematic Conf., Warsaw, Poland, Jun. 2009.
  41. A. Kawamura, K. Tahara, R. Kurazume, and T. Hasegawa,
    "Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands,"
    Proc. Int. Conf. Adv. Robot. (ICAR'09), 98, Munich, Germany, Jun. 2009.

  42. K. Matsuo, K. Murakami, T. Hasegawa, K. Tahara, and R. Kurazume,
    "Measurement of static constraints imposed by a human hand on a grasped objects,"
    Proc. Int. Conf. Adv. Robot. (ICAR'09), 106, Munich, Germany, Jun. 2009.
  43. S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
    "A Riemannian-Geometry approach for dynamics and control of object manipulation under constraints,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'09), pp. 1683--1690, Kobe, Japan, May 2009.
  44. M. Yoshida, S. Arimoto and K. Tahara,
    "Modeling and control of a pair of robot fingers with saddle joint under orderless actuations,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'09), pp. 2499--2505, Kobe, Japan, May 2009.
  45. H. Kino. S. Kikuchi, T. Yahiro and K. Tahara,
    "Basic study of biarticular muscle’s effect on muscular internal force control based on physiological hypotheses,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'09), pp. 4195--4200, Kobe, Japan, May 2009.
  46. K. Tahara, S. Arimoto and M. Yoshida,
    "Dynamic object grasping by a triple-fingered robotic hand,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'08), pp. 2685--2690, Nice, France, Sep. 2008.
  47. K. Tahara, S. Arimoto, M. Sekimoto, M. Yoshida, and Z.W. Luo,
    "On iterative learning control for simultaneous force/position trajectory tracking by using a 5 d.o.f. robotic thumb under non-holonomic rolling constraints,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'08), pp. 2611--2616, Pasadena, CA, May 2008.
  48. Y. Itoh, K. Tahara, K. Takagi, M. Yoshida, Z.W. Luo, K, Akataki and K. Mita,
    "Amplitude properties of mechano. yogram with stimulation intensity during single twitch contraction produced by electrical stimulation,"
    Proc. Int. Symp. Biol. Physiol. Eng. / SICE Symp. Biol. Physiol Eng., pp. 94--95, Harbin, China, Jan. 2008.
  49. K. Tahara, S. Arimoto, Z.W. Luo and M. Yoshida,
    "On control for "Blind Touching" by human-like thumb robots,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'07), pp. 592--598, Rome, Italy, Apr. 2007.
    A Finalist of Best Manipulation Paper Award in ICRA'07
  50. M. Onishi, Z.W. Luo, S. Hirano. K. Tahara and T. Mukai,
    "Generation of human care behaviors by human-interactive robot RI-MAN,"
    Video Proc. IEEE Int. Conf. Robot. Automat. (ICRA'07), pp. 3128--3129, Rome, Italy, Apr. 2007.
  51. K. Tahara, Z.W. Luo and S. Arimoto,
    "On control mechanism of human-like reaching movements with musculo-skeletal redundancy,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'06), pp. 1402--1409, Beijing, China, Oct. 2006.
  52. T. Odashima, M. Onishi, K. Tahara, K. Takagi, F. Asano. Y. Kato, H. Nakashima, Y. Kobayashi, T. Mukai, Z.W. Luo, and S. Hosoe
    "A Soft Human-Interactive Robot RI-MAN,"
    Video Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'06), v018, Beijing, China, Oct. 2006.
  53. K. Tahara, Z.W. Luo, and S. Arimoto,
    "On control strategy of a redundant musculo-skeletal arm system,"
    Proc. the 3rd Conf. Artificial Muscles, Tokyo, Japan, May. 2006.
  54. K. Tahara, Z.W. Luo, R. Ozawa, J.H. Bae and S. Arimoto,
    "Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'06), pp. 994--999, Orlando, FL, May. 2006.
    A Finalist of Best Manipulation Paper Award in ICRA'06
  55. K. Tahara, Z.W. Luo, S. Arimoto and H. Kino.
    "Sensory-motor control of a muscle redundant arm for reaching movements -Convergence analysis and gravity compensation-,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'05), pp. 1885--1891, Edmonton, Canada, Aug. 2005.
  56. K. Tahara, Z.W. Luo, S. Arimoto and H. Kino.
    "Task-space feedback control for a two-link arm driven by six muscles with variable damping and elastic properties,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'05), pp. 224--229, Barcelona, Spain, Apr. 2005.
  57. K. Takagi, Z.W. Luo, K. Asaka and K. Tahara,
    "Limited-angle motor using ionic polymer metal composite,"
    Proc. SPIE (Smart Structures and Materials), Mar. 2005.
  58. K. Tahara, Z.W. Luo, S. Arimoto, and H. Kino.
    "Dynamic simulation of redundant musculo-skeletal control system,"
    Proc. Int. Symp. Human, Artificial Intell. Syst. (HART'04), pp. 155--160, Fukui, Japan, Dec. 2004.
  59. F. Asano. Z.W. Luo, M. Yamakita, K. Tahara and S. Hosoe,
    "Bio-mimetic control for whole arm cooperative manipulation,"
    IEEE SMC'2004 Conf. Proc., pp. 704--709, Hague, Netherlands, Oct. 2004.
  60. F. Asano. Z.W. Luo, K. Tahara, M. Yamakita and S. Hosoe,
    "Modeling and control for whole arm dynamic cooperative manipulation,"
    Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'04), pp. 3282--3287, Sendai, Japan, Oct. 2004.
  61. K. Tahara, Z.W. Luo, T. Odashima, M. Onishi, F. Asano. and A. Kato,
    "Modeling and dynamic simulation of super-redundant musculo-skeletal system,"
    Proc. CSIMTA, Complex Syst., Intell., Modern Technological Applications, pp. 503--508, Cherbourg, France, Sep. 2004.
  62. K. Tahara, Z.W. Luo, T. Odashima, M. Onishi, S. Hosoe, and A. Kato,
    "Dynamic control and simulation of human musculo-skeletal model,"
    Proc. SICE Annual Conf., pp. 2395--2398, Sapporo, Japan, Aug. 2004.
  63. K. Tahara, T. Odashima, M. Onishi, F. Asano. Z.W. Luo, and S. Hosoe,
    "Development of a dynamic human movement analysis platform,"
    Proc. the 2nd Conf. Artificial Muscles, Osaka, Japan, May 2004.
  64. S. Arimoto, J.H. Bae, and K. Tahara,
    "Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'03), pp. 2336--2343, Taipei, Taiwan, Sep. 2003.
  65. S. Arimoto, J.H. Bae, M. Yoshida and K. Tahara,
    "Stability on a manifold: concurrent control for secure grasp and manipulation of a rigid object by dual robot fingers,"
    Proc. IFAC Symp. Robot Control (SYROCO'03), vol. 2, pp. 399--404, Wroclaw, Poland, Sep. 2003.
  66. S. Nakamura, K. Tahara J.H. Bae, M. Sekimoto, and S. Arimoto,
    "Experiments of grasping and object-manipulation by a pair of multi-degree of freedom robot fingers,"
    Proc. IEEE Int. Symp. Computational Intell. Robot. Automat. (CIRA'03), SA2-IV-4, pp. 1219--1226, Kobe, Japan, Jul. 2003.
  67. J.H. Bae, K. Tahara, S. Nakamura and S. Arimoto,
    "Computer simulation of grasping and object-manipulation by a pair of multi-degree of freedom robot fingers,"
    Proc. IEEE Int. Symp. Computational Intell. Robot. Automat. (CIRA'03), SA2-II-1, pp. 1162--1167, Kobe, Japan, Jul. 2003.
  68. S. Arimoto, J.H. Bae, and K. Tahara,
    "Dynamic stable pinching by a pair of robot fingers,"
    Proc. IFAC Conf. Mechatronic Syst., pp. 731--736, Berkeley, CA, Dec. 2002.
  69. K. Tahara, M. Yamaguchi, J.H. Bae, S. Nakamura, and S. Arimoto,
    "Experimental results of dymanic stable grasping by a pair of robot fingers with soft tips,"
    Proc. Japan-USA Symp. Flexible Automat., pp. 791--797, Hiroshima, Japan, Jul. 2002.
  70. S. Arimoto, K. Tahara and M. Yamaguchi,
    "Existence of feedbacks from sensing to action for stable grasping and dexterous manipulation by multi-fingered robot hands,"
    Proc. IEEE Int. Conf. Control Applications, Mexico City, Mexico, Sep. 2001.
  71. H.Y. Han, S. Arimoto, K. Tahara, M. Yamaguchi and P.T.A. Nguyen,
    "Robotic pinching by means of a pair of robot fingers with sensory feedback,"
    Proc. IEEE Int. Conf. Robot. Automat. (ICRA'01), pp. 97--102, Seoul, Korea, May 2001.
  72. S. Arimoto, M. Yamaguchi, H.Y. Han, K. Tahara and P.T.A. Nguyen,
    "Sensory feedback for dynamic stable pinching by means of a pair of soft fingers,"
    Proc. the 32nd Int. Symp. Robotics, Seoul, Korea, Apr. 2001.
  73. S. Arimoto, K. Tahara, S. Hirai, M. Yamaguchi and H.Y. Han,
    "Sensory feedback for secure grasping by a pair of robot fingers with soft tips,"
    Proc. Int. Workshop of Morpho-function Machines, Tokyo, Japan, Mar. 2001.
  74. K. Tahara, M. Yamaguchi, P.T.A. Nguyen, H.Y. Han, and S. Arimoto,
    "Stable grasping and posture control for a pair of robot fingers with soft tips,"
    Proc. Int. Conf. Machine Automation (ICMA'00), pp. 33--38, Osaka, Japan, Sep. 2000.
  75. S. Arimoto, K. Tahara, M. Yamaguchi, P.T.A. Nguyen, and H.Y. Han,
    "Principle of superposition for controlling pinch motions by means of robot fingers with soft-tips,"
    Proc. IFAC Symp. Robot Control 2000 (SYROCO'00), pp. 421--426, Wien, Austry, Sep. 2000.
OTHERS
  1. K. Tahara,
    "Integration of sensing information for a dynamic grasping and manipulation by a multi-fingered hand,"
    Invited talk, Workshop on IROS2018, "Examining Sensing Modalities for Robust and Dexterous Object Manipulation", Madrid, Spain, 2018.

  2. K. Tahara,
    "Robust grasping and manipulation against uncertainty of sensing information: One of applications of thumb opposability based controller,"
    Invited talk, Workshop on IROS2016, "Dexterity Acquisition in Object Manipulation", Daejeon, Korea, 2016.

  3. K. Tahara,
    "A simple dynamic object grasping and manipulation controller and its applications,"
    Invited talk, Workshop on IROS2016, "Closed-loop Grasping and Manipulation: Challenges and Progress", Daejeon, Korea, 2016.

  4. K. Tahara,
    "Dynamic in-hand manipulation using a multi-fingered robotic hand,"
    Invited talk, The first workshop on Intelligent Technology of Collaborative Robot: Frontier and Challenges, Guangzhou, China, 2016.

  5. Y. Matsutani, H. Ochi, H. Kino, K. Tahara and M. Yamamoto,
    "Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force,"
    Proc. IEEE Workshop on Advanced Robotics and its Social Impacts, Tokyo, Japan, Nov. 2013.

  6. H. Kino, H. Ochi, K. Tahara, Y. Matsutani and Ryota Ishibashi,
    "Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system,"
    Proc. IEEE Workshop on Advanced Robotics and its Social Impacts, Tokyo, Japan, Nov. 2013.

  7. Y. Matsutani, K. Tahara, H. Kino, H. Ochi and M. Yamamoto, "Linear combination of feedforward and feedback manners to a musculoskeletal system for robust set-point control,"
    Proc. the 9th Joint Workshop on Machine Perception and Robotics (MPR'13), Kyoto, Japan, Oct. 2013.

  8. Y. Matsutani, H. Ochi, H. Kino, K. Tahara and M. Yamamoto,
    "Feed-forward positioning of musculoskeletal-like robotic systems: Determination of adequate internal force by reinforcement learning,"
    Proc. the 8th Joint Workshop on Machine Perception and Robotics (MPR'11), Fukuoka, Japan, Oct. 2012.

  9. A. Kawamura, K. Tahara, T. Hasegawa and R. Kurazume,
    "Dynamic object grasping and manipulation by means of a multi-fingered hand with a redundant arm,"
    Proc. the 6th Joint Workshop on Machine Perception and Robotics (MPR'10), Fukuoka, Japan, Oct. 2010.

  10. K. Matsuo, K. Niwaki, K. Murakami, T. Hasegawa, K. Tahara and R. Kurazume,
    "A tactile sensing for estimating the posture of the joint-axis of a linked object,"
    Proc. the 6th Joint Workshop on Machine Perception and Robotics (MPR'10), Fukuoka, Japan, Oct. 2010.

  11. K. Tahara, K. Maruta and M. Yamamoto,
    "External sensor-less dexterous object manipulation using a dual soft-fingered robotic hand with torsional joints,"
    Proc. the 5th Joint Workshop on Machine Perception and Robotics (MPR'09), Kyoto, Japan, Oct. 2009.

  12. K. Tahara, S. Arimoto and M. Yoshida,
    "Stable object grasping and manipulation using three soft fingers,"
    Proc. the 4th Joint Workshop on Machine Perception and Robotics (MPR'08), Beijing, China, Nov. 2008.

  13. K. Takagi, Z.W. Luo, K. Asaka, K. Tahara,
    "Limited Angle Rotary Actuator using IPMC,"
    WorldWide ElectroActive Polymers (Artificial Muscles) Newsletter, vol. 6, no. 2, pp. 19--20, Dec. 2004.

  14. K. Tahara, Z.W. Luo, T. Odashima and A. Kato,
    "Development of Dynamic Human Simulation Platform,"
    Proc. HUT-RITS Joint Symposium on Sensory-Motor Coordination in Robotic Manipulation, pp. 81--84, Mar. 2004.


Last Update: 29th, Jul. 2019.