**Kenji TAHARA Ph. D.**

- Human-Centered Robotics Laboratory,

- Department of Mechanical Engineering,

- Faculty of Engineering, Kyushu University

- 748 West Zone Building IV,

- 744 Moto'oka, Nishi-ku, Fukuoka 819-0395, JAPAN

- TEL/FAX: +81-92-802-3238 (direct-dial)

**ACADEMIC QUALIFICATIONS**

- Mar. 1998, B. E. degree in Mechanical Engineering, Ritsumeikan University

- Mar. 2000, M. E. degree in Information Science and Systems Engineering, Ritsumeikan University

- Mar. 2003, Ph. D. degree in Robotics, Ritsumeikan University

**CAREER**

- Apr. 2000 - Mar. 2002, Research Assistant, Department of Robotics, Ritsumeikan University

- Apr. 2002 - Mar. 2003, Research Associate, Department of Robotics, Ritsumeikan University

- Apr. 2003 - Mar. 2007, Research Scientist, Environment Adaptive Robotic Systems Lab., BMC Research Center, RIKEN

- Apr. 2007 - Sep. 2009, SSP Researcher, Organization for the Promotion of Advanced Research, Kyushu University

- Apr. 2007 - Mar. 2011, Project Associate Professor, Faculty of Information Science and Electrical Engineering, Kyushu University

- Apr. 2007 - Sep. 2008, Guest Researcher, Environment Adaptive Robotic Systems Lab., BMC Research Group, RIKEN

- Oct. 2009 - Mar. 2011, Project Associate Professor, Institute for Advanced Study, Kyushu University

- Jan. 2009 - Mar. 2012, Guest Researcher, Robot Control Research Team, RTC, RIKEN

- Apr. 2011 - Mar. 2020, Associate Professor, Department of Mechanical Engineering, Faculty of Engineering, Kyushu University

- Mar. 2013 - Feb. 2014, Visiting Professor, LASA Laboratory, Ecole Polytechnique Federale de Lausanne (EPFL)

- Feb. 2017 - Aug. 2017, Visiting Professor, The State University of New York at Stony Brook (SUNY Stony Brook)
**Apr. 2020 - Present, Full Professor, Department of Mechanical Engineering, Faculty of Engineering, Kyushu University**

H. Arita, H. Nakamura, T. Fujiki, and

**K. Tahara**,

"Smoothly connected preemptive impact reduction and contact impedance control,"

*IEEE Transactions on Robotics*, vol. --, no. --, 2023. (DOI: 10.1109/TRO.2023.3286045)Y. Kinjo, Y. Matsutani,

**K. Tahara**, and H. Kino,

"Basic study of sensorless path tracking control based on the musculoskeletal potential method,"

*ROBOMECH Journal*, vol. 10, no. 3, 2023. (DOI: 10.1186/s40648-023-00242-2)T. Ichimura, C. Inoue, Z. Wang, G. Kuwabara, and

**K. Tahara**,

"In-situ 1-kHz real-time particle tracking velocimetry using high-speed streaming camera,"

*Flow Measurement and Instrumentation*, vol. 91, 102361, 2023. (DOI: 10.1016/j.flowmeasinst.2023.102361)T. Fujiki and

**K. Tahara**,

"Series admittance–impedance controller for more robust and stable extension of force control,"

*ROBOMECH Journal*, vol. 9, no. 23, 2022. (DOI: 10.1186/s40648-022-00237-5)K. Masuya, K. Takagi, and

**K. Tahara**,

"Wire-storage pantograph mechanism for strain and force amplification of a twisted and coiled polymer fiber,"

*IEEE Robotics and Automation Letters*, vol. 7, no. 4, pp. 11094--11101, 2022. (DOI: 10.1109/LRA.2022.3197268)K. Masuya and

**K. Tahara**,

"Novel twisted and coiled polymer fiber actuator fabricated from polymer-coated optical fiber,"

*IEEE Robotics and Automation Letters*, vol. 6, no. 3, pp. 4883--4890, 2021. (DOI: 10.1109/LRA.2021.3070247)Y. Matsutani,

**K. Tahara**, and H. Kino,

"Simulation evaluation for methods used to determine muscular internal force based on joint stiffness using muscular internal force feedforward controller for musculoskeletal system,"

*Fronteirs Robotics and AI*, vol. 8, Article 699792, 2021. (DOI: 10.3389/frobt.2021.699792)D. Kimura, T. Irisawa, K. Takagi,

**K. Tahara**, D. Sakurai, H. Watanabe, W. Takarada, and M. Shioya,

"Mechanism for anisotropic thermal expansion of polyamide fibers,"

*Sensors and Actuators, B: Physical*, vol. 344, 2021. (DOI: 10.1016/j.snb.2021.130262)H. Kino, H. Ochi, and

**K. Tahara**

"Optimal muscular arrangement using genetic algorithm for musculoskeletal potential method with muscle viscosity,"

*Journal of Robotics and Mechatronics*, vol. 33, no. 3, pp. 619--628, 2021. (DOI: 10.20965/jrm.2021.p0619)H. Ochi, H. Kino,

**K. Tahara**, and Y. Matsutani,

"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)S.-H. Choi and

**K. Tahara**,

"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)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, pp. 612--620, 2019. (DOI: 10.20965/jrm.2019.p0612)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)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)**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)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)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)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)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)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)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)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)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)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)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)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)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)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)**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)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)**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)**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)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)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)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)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)**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)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)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)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)

- K. Takagi, N. Kamamichi, K. Masuya,
**K. Tahara**, T. Irisawa and K. Asaka,

"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) **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.**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.**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.

H.T.L. Doan and

**K. Tahara**,

"Data-driven-based stable object grasping for a triple-fingered under-actuated robotic hand,"

*Proc. IEEE/SICE Int. Symp. System Integration (SII'23)*, pp. --, Atlanta, GA, Jan. 2023.S. Tsuboi, H. Kino, and

**K. Tahara**,

"End-Point stiffness and joint viscosity control of musculoskeletal robotic arm using muscle redundancy,"

*Proc. IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS'22)*, pp. 4997--5002, Kyoto, Japan, Oct. 2022.T. Fujiki and

**K. Tahara**,

"Numerical simulations of a novel force controller serially combining the admittance and impedance controllers,"

*Proc. IEEE Int. Conf. Robot. Automat. (ICRA'21)*, pp. 6955--6962, Xi'an, PRC, May 2021.K. Takagi, H. Iwai, C. Oiwa, T. Irisawa, M. Shioya, K. Masuya,

**K. Tahara**, D. Sakurai, H. Watanabe, and K. Asaka,

"Modeling and characterization for straight twisted polymer fiber actuators in blocked torsion: Effect of radial thermal expansion,"

*Proc. SPIE Smart Structures + Nondestructive Evaluation*, Mar. 2021.K. Masuya and

**K. Tahara**,

"Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane,"

*Proc. IEEE/ASME Int. Conf. Adv. Intell. Mech. (AIM'20)*, pp. 132--137, Boston, MA, Jul. 2020.S. Honji and

**K. Tahara**,

"Dynamic modeling and joint design of a cable driven soft gripper,"

*Proc. IEEE-RAS Int. Conf. Soft Robotics (RoboSoft'20)*, pp. 593--598, New Haven, CT, May 2020.H. Iwai, K. Takagi, C. Oiwa, K. Masuya,

**K. Tahara**, T. Irisawa, M. Shioya, H. Watanabe, D. Sakurai, and K. Asaka,

"On the fluctuation phenomenon of axial thermal stress of a torsional fishing-line artificial muscle (Twisted Polymer Fiber) actuator,"

*Proc. SPIE Smart Structures + Nondestructive Evaluation*, Mar. 2020.S. Choi and

**K. Tahara**,

"Development of a visual-tactile fingertip sensor and an object manipulation method using a multi-fingered robotic hand,"

*Proc. IEEE/SICE Int. Symp. System Integration (SII'20)*, pp. 1008--1015, Honolulu, HI, Jan. 2020.- H. Tanizaki, K. Takagi, C. Oiwa, K. Masuya,
**K. Tahara**, T. Irisawa, M. Shioya, and K. Asaka,

"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. - 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. 57th Annual Conference of the Society of Instrument and Control Engineers of Japan (SICE'18)*, Sep. 2018. - 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. (AIM'18)*, pp. 539--544, Auckland, New Zealand, Jul. 2018. - 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 (RoboSoft'18)*, pp. 467--472, Livorno, Italy, Apr. 2018. - 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. - 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. - 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. **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.- 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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. **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.- 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. - 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. **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.**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.**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.- 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. - 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)* **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.- 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. **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.- 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. **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.- 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. - 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. **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.**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.**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.- 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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. - 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. **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.**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.- 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. **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*- 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. **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.- 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. **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.**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***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.**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.- 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. **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.- 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. - 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. **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.**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.**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.- 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. - 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. - 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. - 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. - 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. **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.- 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. - 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. - 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. - 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. **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.- 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.

**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.***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.***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.***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.**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.*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.*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.*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.*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.*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.**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.**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.*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.**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: 4th, Jul. 2023.