Name

TAKANISHI, Atsuo

Official Title

Professor

Affiliation

（School of Creative Science and Engineering）

Contact Information

URL

Web Page URL

http://www.takanishi.mech.waseda.ac.jp/

Grant-in-aids for Scientific Researcher Number

50179462

Sub-affiliation

Faculty of Science and Engineering（Graduate School of Advanced Science and Engineering）

Faculty of Science and Engineering（Graduate School of Creative Science and Engineering）

Research Council (Research Organization)/Affiliated organization（Global Education Center）

Affiliated Institutes

理工学総合研究センター

兼任研究員 1989-2006

ヒューマノイド研究所

プロジェクト研究所所長 2010-2014

ヒューマノイド研究所

プロジェクト研究所所長 2015-

ヒューマノイド研究所

研究所員 2015-

医療レギュラトリ―サイエンス研究所

研究所員 2013-2015

医療レギュラトリ―サイエンス研究所

研究所員 2015-

ヘルスケアロボティクス研究所

研究所員 2015-

グローバルロボットアカデミア研究所

研究所員 2011-2016

グローバルロボットアカデミア研究所

研究所員 2016-

次世代ロボット研究機構

運営委員 2016-2018

災害対応ロボティクス研究所

研究所員 2015-

次世代ロボット研究機構

運営委員 2014-2016

ヒューマンパフォーマンス研究所

研究所員 2017-

アクティヴ・エイジング研究所

研究所員 2013-2017

アクティヴ・エイジング研究所

研究所員 2018-2022

理工学術院総合研究所（理工学研究所）

兼任研究員 2006-2018

理工学術院総合研究所（理工学研究所）

兼任研究員 2018-

中部地域産業振興研究所

研究所員 2012-2018

Educational background・Degree

Educational background

-1980	Waseda University Faculty of Science and Engineering
-1985	Waseda University Graduate School, Division of Science and Engineering

Degree

(BLANK) Coursework

Award

Advanced Robotics Best Paper Award

2015

ICRA2014, Best Cognitive Robotics Paper Award, Finalist

2014

Best research abstracts

2013Conferment Institution：Society in Europe for Simulation Applied to Medicine

Title：Novel airway management simulator providing quantitative feedback to trainees

ICME2012, Best Conference Paper Award

2012

Fellow

2012

Best Conference Paper Award in AIM

2009

Best Conference Paper Award in ROBIO2007

2007

第20回日本顎関節学会ポスター発表優秀賞

2007

Fellow Award

2007

NTF Award Finalist in IEEE IROS2007

2007

IEEE ICRA 2006 Best Paper Award Finalist

2006

IEEE International Conference on Robotics and Automation 1999,Best Paper Award Finalist

1999

Interview Guide

Category: Engineering

Research Field

Grants-in-Aid for Scientific Research classification

Engineering / Mechanical engineering / Intelligent mechanics/Mechanical systems

Medicine, dentistry, and pharmacy / Dentistry / Surgical dentistry

Technology Seeds

Development of Subliminal Persuasion System for Laparoscopic Training

Seeds Field：Social Infrastructure

Development of a Wearable Motion Capture System for Balance Evaluation of Older Adults

Seeds Field：Social Infrastructure

Human-Robot Laughter Interaction

Seeds Field：Social Infrastructure

Human-Robot Musical Interaction

Seeds Field：Social Infrastructure

Seeds Field：Manufacturing Technology

Seeds Field：Life sciences

Paper

Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid

Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi

Advanced Robotics Peer Review Yes 2018/10-2018/10

Publish Classification：Research paper (scientific journal) ISSN：1568-5535

Jumping Motion Generation of a Humanoid Robot Utilizing Human-like Joint Elasticity

Otani, Takuya; Hashimoto, Kenji; Ueta, Hiroki; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hum Ok; Takanishi, Atsuo

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems Peer Review Yes p.8707 - 87142018/10-2018/10

Publish Classification：Research paper (scientific journal)

Group Emotion Recognition Strategies for Entertainment Robots

Sarah Cosentino, Estelle I. S. Randria, Jia-Yeu Lin, Thomas Pellegrini, Salvatore Sessa, Atsuo Takanishi

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems Peer Review Yes p.813 - 8182018/10-2018/10

Publish Classification：Research paper (scientific journal)

End-Effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-Limbed Robot

Takashi Matsuzawa, Asaki Imai, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Kengo Kumagai,Takanobu Matsubara, Koki Yamaguchi, and Atsuo Takanishi

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems Peer Review Yes p.2727 - 27322018/10-2018/10

Publish Classification：Research paper (scientific journal)

A Modified Robotic Rat to Study Rat-Like Pitch and Yaw Movements

Qing Shi; Chang Li; Kang Li; Qiang Huang; Hiroyuki Ishii; Atsuo Takanishi; Toshio Fukuda

IEEE/ASME Transactions on Mechatronics Peer Review Yes 23(5) p.2448 - 2458

Publish Classification：Research paper (scientific journal)

Trajectory Optimization for High-Power Robots with Motor Temperature Constraints

Wei Xin Tan, Martim Brandão, Kenji Hashimoto, Atsuo Takanishi

Towards Autonomous Robotic Systems. TAROS 2018. Lecture Notes in Computer Science Peer Review Yes

Publish Classification：Research paper (scientific journal)

Musical Articulation System on Humanoid Saxophonist Robot

Jia-Yeu Lin, Mao Kawai, Kei Matsuki, Sarah Cosentino, Salvatore Sessa, Atsuo Takanishi

ROMANSY 22 – Robot Design, Dynamics and Control. Peer Review Yes

Publish Classification：Research paper (scientific journal)

Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human

Takuya Otani, Kenji Hashimoto, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim, Atsuo Takanishi

ROMANSY 22 – Robot Design, Dynamics and Control. Peer Review Yes

Publish Classification：Research paper (scientific journal)

Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

Takashi Matsuzawa, Takanobu Matsubara, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Koki Yamaguchi, Keisuke Namura, Atsuo Takanishi

ROMANSY 22 – Robot Design, Dynamics and Control. Peer Review Yes

Publish Classification：Research paper (scientific journal)

Evaluation of a Sensor System for Detecting Humans Trapped under Rubble: A Pilot Study

Di Zhang, Salvatore Sessa, Ritaro Kasai, Sarah Cosentino, Cimarelli Giacomo, Yasuaki Mochida, Hiroya Yamada, Michele Guarnieri and Atsuo Takanishi

Sensors Peer Review Yes 18(3) 2018/03-2018/03

Publish Classification：Research paper (scientific journal) ISSN：1424-8220

Motion evaluation of a modified multi-link robotic rat

Chang Li, Qing Shi, Kang Li, Mingjie Zou, Hiroyuki Ishii, Atsuo Takanishi, Qiang Huang,Toshio Fukuda

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Peer Review Yes

Maximize-perturb-minimize: A fast and effective heuristic to obtain sets of locally optimal robot postures

Martim Brandão, Kenji Hashimoto, Atsuo Takanishi

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Peer Review Yes

A four-limbed disaster-response robot having high mobility capabilities in extreme environments

Kenji Hashimoto ; Takashi Matsuzawa ; Tomotaka Teramachi ; Kazuhito Uryu ; Xiao Sun ; Shinya Hamamoto ; Ayanori Koizumi ; Atsuo Takanishi

Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Peer Review Yes

Upper-body control and mechanism of humanoids to compensate for angular momentum in the yaw direction based on human running

Otani, Takuya; Hashimoto, Kenji; Miyamae, Shunsuke; Ueta, Hiroki; Natsuhara, Akira; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hum Ok; Takanishi, Atsuo

Applied Sciences (Switzerland) Peer Review Yes 8(1) 2018/01-2018/01

Publish Classification：Research paper (scientific journal) ISSN：2076-3417

Outline：© 2018 by the authors. Many extant studies proposed various stabilizing control methods for humanoids during the stance phase while hopping and running. Although these methods contribute to stability during hopping and running, humanoid robots do not swing their legs rapidly during the flight phase to prevent rotation in the yaw direction. Humans utilize their torsos and arms when running to compensate for the angular momentum in the yaw direction generated by leg movement during the flight phase. In this study, we developed an angular momentum control method based on human motion for a humanoid upper body. The method involves calculation of the angular momentum generated by the movement of the humanoid legs and calculation of the torso and arm motions required to compensate for the angular momentum of the legs in the yaw direction. We also developed a humanoid upper-body mechanism having human link l ength and mass properties, using carbon-fiber-reinforced plastic and a symmetric structure for generating large angular momentum. The humanoid robot developed in this study could generate almost the same angular momentum as that of a human. Furthermore, when suspended in midair, the humanoid robot achieved angular momentum compensation in the yaw direction.

WAREC-1 — A four-limbed robot having high locomotion ability with versatility in locomotion styles

Proceedings of the 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR) Peer Review Yes

A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors

Katsuaki Tanaka, Di Zhang, Sho Inoue, Ritaro Kasai, Hiroya Yokoyama, Koki Shindo, Ko Matsuhiro, Shigeaki Marumoto, Hiroyuki Ishii, Atsuo Takanishi

Proceedings of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA) Peer Review Yes

Crawling Motion and Foot Trajectory Modification Control for Legged Robot on Rough Terrain

Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura and Atsuo Takanishi

Proceedings of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA) Peer Review Yes

Development of automatic teeth cleaning robot driven by cam mechanism

Gen Sakaeda, Takanobu Matsubara, Hiroyuki Ishii, Atsuo Takanish

Proceedings of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA) Peer Review Yes

Hardware and control design considerations for a monitoring system of autonomous mobile robots in extreme environment

K. Tanaka, Y. Okamoto, H. Ishii, D. Kuroiwa, J. Mitsuzuka, H. Yokoyama, S. Inoue, Q. Shi, S. Okabayashi, Y. Sugahara and A. Takanishi

Proc. IEEE International Conference on Advanced Intelligent Mechatronics (AIM) Peer Review Yes

Angular momentum compensation in yaw direction using upper body based on human running

Otani, T.; Hashimoto, K.; Miyamae, S.; Ueta, H.; Sakaguchi, M.; Kawakami, Y.; Lim, H. O.; Takanishi, A.

Proceedings - IEEE International Conference on Robotics and Automation Peer Review Yes p.4768 - 47752017/07-2017/07

ISSN：10504729

Outline：© 2017 IEEE. Humans utilize their torsos and arms while running to compensate for the angular momentum generated by the lower-body movement during the flight phase. To enable this capability in a humanoid robot, the robot should have human-like mass, a center of mass position, and inertial moment of each link. To mimic this characteristic, we developed an angular momentum control method using a humanoid upper body based on human motion. In this method, the angular momentum generated by the movement of the humanoid lower body is calculated, and the torso and arm motions are calculated to compensate for the angular momentum of the lower body. We additionally developed the humanoid upper-body mechanism that mimics the human link length and mass property by using carbon fiber reinforced plastic and a symmetric structure. As a result, the developed humanoid robot could generate almost the same angular momentum as that of human through human-like running motion. Furthermore, when suspended in midair, the humanoid robot produced the angular momentum compensation in the yaw direction.

Novel Extendable Arm Structure Using Convex Tapes for Improving Strength of Pipe on Tiny Mobile Robots

K. Tanaka, H. Yoyokama, H. ISHII, S. Inoue, Q. Shi, S. Okabayashi, Y. Sugahara, A. Takanishi

Proc. 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) Peer Review Yes

The development of intraoral pressure control system on humanoid saxophone playing robot

J. Y. Lin, K. Yoshida, K. Matsuki, K. Takikawa, S. Cosentino, S. Sessa and A. Takanishi

Proc. 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO) Peer Review Yes

Crawling Gait for Four-limbed Robot and Simulation on Uneven Terrain

Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Shunsuke Kimura, Nobuaki Sakai and Atsuo Takanishi

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016) Peer Review Yes

Friction from Vision: A Study of Algorithmic and Human Performance with Consequences for Robot Perception and Teleoperation

Martim Brandão, Kenji Hashimoto and Atsuo Takanishi

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016) Peer Review Yes

Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain

Martim Brandão, Yukitoshi Minami Shiguematsu, Kenji Hashimoto and Atsuo Takanishi

Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016) Peer Review Yes

Trajectory Generation for Ladder Climbing Motion with Separated Path and Time Planning

Xiao Sun, Kenji Hashimoto, Shinya Hamamoto, Ayanori Koizumi, Takashi Matsuzawa, Tomotaka Teramachi and Atsuo Takanishi

Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Peer Review Yes

Joint Mechanism That Mimics Elastic Characteristics in Human Running

Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi

Machines Peer Review Yes 4(1) 2016/01-

Publish Classification：Research paper (scientific journal) ISSN：2075-1702

On Stereo Confidence Measures for Global Methods: Evaluation, New Model and Integration into Occupancy Grids

Martim Brandão, Ricardo Ferreira, Kenji Hashimoto, Atsuo Takanishi and José Santos-Victor

IEEE Transactions on Pattern Analysis and Machine Intelligence Peer Review Yes

Development of Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder

Takashi Matsuzawa, Kenji Hashimoto, Xiao Sun, Kazuhiro Uryu, Ayanori Koizumi, Shinya Hamamoto, Tomotaka Teramachi and Atsuo Takanishi

Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015) Peer Review Yes

Event-based climbing motion planning for a quadruped robot

Xiao Sun, Kenji Hashimoto, Ayanori Koizumi, Shinya Hamamoto, Takashi Matsuzawa, Tomotaka Teramachi and Atsuo Takanishi

Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015) Peer Review Yes

A Study on Effects of Outer Shape of Mobile Robot on Locomotive Performance in Grass Field

Daisuke Kuroiwa, Hiroyuki Ishii, Katsuaki Tanaka, Yuya Okamoto, Qing Shi, Hikaru Sugita, Eric Mossor, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015) Peer Review Yes

Development of Battery Charging System Using Wireless Power Transmission for Outdoor Mobile Robots

Yuya Okamoto, Hiroyuki Ishii, Katsuaki Tanaka, Daisuke Kuroiwa, Qing Shi, Hikaru Sugita, Eric Mossor, Satoshi Okabayashi, Yusuke Sugahara, Atsuo Takanishi

Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015) Peer Review Yes

What does that flashing light mean? Design choices for a robotic head prototype

Gabriele Trovato, Scean Mitchell, Kenji Hashimoto and Atsuo Takanishi

Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015) Peer Review Yes

Extending humanoid footstep planning with ZMP tracking error constraints

Martim Brandão, Kenji Hashimoto and Atsuo Takanishi

Proceedings of the 6th International Conference on Advanced Mechatronics (ICAM 2015) Peer Review Yes

Optimizing Energy Consumption and Preventing Slips at the Footstep Planning Level

Martim Brandão, Kenji Hashimoto, José Santos-Victor and Atsuo Takanishi

Proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2015) Peer Review Yes

Running with lower-body robot that mimics joint stiffness of humans

Otani, T.; Hashimoto, K.; Hashimoto, K.; Yahara, M.; Miyamae, S.; Isomichi, T.; Sakaguchi, M.; Kawakami, Y.; Lim, H. O.; Takanishi, A.

IEEE International Conference on Intelligent Robots and Systems Peer Review Yes 2015-Decemberp.3969 - 39742015/12-2015/12

ISSN：21530858

Outline：Human running motion can be modeled using a spring-loaded inverted pendulum (SLIP), where the linear-spring-like motion of the standing leg is produced by the joint stiffness of the knee and ankle. To use running speed control in the SLIP model, we should only decide the landing placement of the leg. However, for using running speed control with a multi-joint leg, we should also decide the joint angle and joint stiffness of the standing leg because these affect the direction of the ground reaction force. In this study, we develop a running control method for a human-like multi-joint leg. To achieve a running motion, we developed a running control method including pelvis oscillation control for attaining jumping power with the joint stiffness of the leg and running speed control by changing the landing placement of the leg. For using running speed control, we estimated the ground reaction force using the equation of motion and detected the joint angles of the leg for directing the ground reaction force toward the center of mass. To evaluate the proposed control methods, we compared the estimated ground reaction force with the force measured by the real robot. Moreover, we performed a running experiment with the developed running robot. By using ground reaction force estimation, this robot could accomplish the running motion with pelvic oscillation for attaining jumping power and running speed control.

Knee joint mechanism that mimics elastic characteristics and bending in human running

Otani, T.; Hashimoto, K.; Hamamoto, S.; Miyamae, S.; Sakaguchi, M.; Kawakami, Y.; Lim, H. O.; Takanishi, A.

IEEE International Conference on Intelligent Robots and Systems Peer Review Yes 2015-Decemberp.5156 - 51612015/12-2015/12

ISSN：21530858

Outline：Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, we describe the development of a knee joint mechanism that mimics the elastic characteristics of the stance leg and rapid bending knee of the idling leg of a running human. The knee was equipped with a mechanism comprising two leaf springs and a worm gear for adjusting the joint stiffness and high-speed bending knee. Using this mechanism, we were able to achieve joint stiffness within the range of human knee joints that could be adjusted by varying the effective length of one of the leaf springs. In addition, the mechanism was able to bend rapidly by changing the angle between the two leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the adjustable joint stiffness and the effectiveness of the proposed equation for joint stiffness and high-speed knee bending. We were able to make a bipedal robot hop using pelvic oscillation for storing energy produced by the resonance to leg elasticity and confirmed the mechanism could produce large torque 210 Nm.

A Novel Approach to Increase the Locomotion Performance of Mobile Robots in Fields With Tall Grasses

Katsuaki Tanaka, Hiroyuki Ishii, Yuya Okamoto, Daisuke Kuroiwa, Yusaku Miura, Daiki Endo, Junko Mitsuzuka, Qing Shi, Satoshi Okabayashi, Yusuke Sugahara, and Atsuo Takanishi

IEEE International Conference on Intelligent Robots and Systems Peer Review Yes

Utilization of Human-Like Pelvic Rotation for Running Robot

Takuya Otani, Kenji Hashimoto, Masaaki Yahara, Shunsuke Miyamae, Takaya Isomichi, Shintaro Hanawa, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi

Frontiers in Robotics and AI Peer Review Yes 2(17) 2015/06-

Publish Classification：Research paper (scientific journal) ISSN：2296-9144

Biped Robot Research at Waseda University

Kenji Hashimoto and Atsuo Takanishi

Journal of Robotics, Networking and Artificial Life

Walking in the Uncanny Valley: Importance of the Attractiveness on the Acceptance of a Robot as a Working Partner

Matthieu Destephe, Martim Brandao, Tatsuhiro Kishi, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

Frontiers in Psychology

Intersection of “Tokku” Special Zone, Robots, and the Law: A Case Study on Legal Impacts to Humanoid Robots

Yueh-Hsuan Weng, Yusuke Sugahara, Kenji Hashimoto and Atsuo Takanishi

International Journal of Social Robotics

Bio-inspired Falling Motion Control for a Biped Humanoid Robot

Gan Ma, Qiang Huang, Zhangguo Yu, Xuechao Chen, Kenji Hashimoto, Atsuo Takanishi and Yun-Hui Liu

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014)

Leg with Rotational Joint That Mimics Elastic Characteristics of Human Leg in Running Stance Phase

Takuya Otani, Thomas George, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014)

Gait planning for biped locomotion on slippery terrain

Martim Brandão, Kenji Hashimoto, José Santos-Victor and Atsuo Takanishi

Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014)

Balance analysis of one leg stance for elderly people with Inertial Measurement Units

W. Kong, S. Sessa, D. Magistro, D. Zhang, U. Imtiaz, S. Cosentino, M. Zecca, H. Ishii, H. Takeuchi, R. Kawashima, and A. Takanishi

IEEE EMBS Special Topic Conference on Healthcare Innovation & Point-of-Care Technologies

Sit to Stand Sensing Using Wearable IMUs Based on Adaptive Neuro Fuzzy and Kalman Filter

Omar Salah, Ahmed A. Ramadan, Salvatore Sessa, Ahmed M. R. Fath El-Bab, Ahmed Abo-Ismail, M. Zecca, Yo Kobayashi ,A. Takanishi, M. Fujie

IEEE EMBS Special Topic Conference on Healthcare Innovation & Point-of-Care Technologies

Development of a Comic Mark Based Expressive Robotic Head Adapted to Japanese Cultural Background

Tatsuhiro Kishi, Hajime Futaki, Gabriele Trovato, Nobutsuna Endo, Matthieu Destephe, Sarah Cosentino, Kenji Hashimoto and Atsuo Takanishi

Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)

On the formulation, performance and design choices of Cost-Curve Occupancy Grids for stereo-vision based 3D reconstruction

Martim Brand?o, Ricardo Ferreira, Kenji Hashimoto, Jos? Santos-Victor and Atsuo Takanishi

Proceedings of 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)

Emotional Gait: Effects on Humans' Perception of Humanoid Robots

Matthieu Destephe, Martim Brandao, Tatsuhiro Kishi, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

The 23rd IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2014)

Control of Posture and Trajectory for a Rat-like Robot Interacting with Multiple Real Rats

Sarah Cosentino, Susanne Burger, Lara Martin, Florian Metze, Tatsuhiro Kishi, Kenji Hashimoto, Salvatore Sessa, Massimiliano Zecca, and Atsuo Takanishi

36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Application of Wireless Inertial Measurement Units and EMG Sensors for studying Deglutition ? Preliminary Results

U. Imtiaz, K. Yamamura, W. Kong, S. Sessa, Z. Lin, L. Bartolomeo, H. Ishii, M. Zecca, Y. Yamada, and A. Takanishi

36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Development of new muscle contraction sensor to replace sEMG for using in muscles analysis fields

D. Zhang, Y. Matsuoka, W. Kong, U. Imtiaz, L. Bartolomeo, S. Cosentino, M. Zecca, Member, S. Sessa, H. Ishii, A. Takanishi

36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis

Aiman Omer, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

International Journal of Advanced Robotic Systems

Biologically-inspired Control Architecture for Musical Performance Robots

Jorge Solis, Kenichiro Ozawa, Maasaki Takeuchi, Takafumi Kusano, Shimpei Ishikawa, Klaus Petersen and Atsuo Takanishi

International Journal of Advanced Robotic Systems

A comparison of the effects of different equipment used for venipuncture to aid in promoting more effective simulation education

Fujii C, Ishii H, Takanishi A

Journal of Blood Disorders & Transfusion

Autonomous online generation of a motor representation of the workspace for intelligent whole-body reaching

Lorenzo Jamone, Martim Brandao, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini and Atsuo Takanishi

Robotics and Autonomous Systems

Physical Simulator for Modeling of Surgical Performance

Hiroyuki Ishii, Atsuo Takanishi

The 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Development of automatic system to optimize the sound quality and sound pressure of the Waseda Flutist Robot

Solis, J., Ozawa, K., Petersen, K., Takanishi, A.

14th Mechatronics Forum International Conference Mechatronics

Biologically-inspired mechanism design for anthropomorphic musical performance robots

Solis, J., Petersen, K., Takanishi, A.

14th Mechatronics Forum International Conference Mechatronics

Stiffness Analysis of WL-16RV Biped Walking Vehicle

Giuseppe Carbone, Kenji Hashimoto and Atsuo Takanishi

THE 2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)

Terrain-Adaptive Biped Walking Control Using Three-point Contact Foot Mechanism Detectable Ground Surface

Kenji Hashimoto, Hyun-jin Kang, Hiromitsu Motohashi, Hun-ok Lim and Atsuo Takanishi

THE 2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)

Hopping Robot Using Pelvic Movement and Leg Elasticity

Takuya Otani, Kazuhiro Uryu, Masaaki Yahara, Akihiro Iizuka, Shinya Hamamoto, Shunsuke Miyamae, Kenji Hashimoto, Matthieu Destephe, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi

THE 2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)

A Robotic Head that Displays Japanese “Manga” Marks

Tatsuhiro Kishi, Hajime Futaki, Gabriele Trovato, Nobutsuna Endo, Matthieu Destephe, Sarah Cosentino, Kenji Hashimoto and Atsuo Takanishi

2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)

Design Choices in the Development of a Robotic Head: Human-Likeness, Form and Colours

Scean Mitchell, Gabriele Trovato, Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

2014 XX CISM-IFToMM Symposium on Theory and Practical of Robots and Manipulators (ROMANSY 2014)

Uncertainty-based mapping and planning strategies for safe navigation of robots with stereo vision

Martim Brandao, Kenji Hashimoto and Atsuo Takanishi

The 14th Mechatronics Forum International Conference (Mechatronics 2014)

Intercostal localization for automated ultrasound diagnosis system of abdominal area

Y. Sugamiya, S. Ammar, H. Ishii, A. Takanishi, R. Nakadate, A. Saito, M. Sugawara, K. Niki,

28th International Congress and Exhibition of Computer Assisted Radiology and Surgery, CARS 2014

Bipedal humanoid robot that makes humans laugh with use of the method of comedy and affects their psychological state actively

Tatsuhiro Kishi, Nobutsuna Endo, Takashi Nozawa, Takuya Otani, Sarah Cosentino, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)

Running Model and Hopping Robot Using Pelvic Movement and Leg Elasticity

Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014) Peer Review Yes p.2313 - 23182014/05-

Control of Posture and Trajectory for a Rat-like Robot Interacting with Multiple Real Rats

Qing Shi, Hiroyuki Ishii, Yusuke Sugahara, Hikaru Sugita, Atsuo Takanishi, Qiang Huang

Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014)

Safe venepuncture techniques using a vacuum tube system

Fujii C, Ishii H, Takanishi A

International Journal of Nursing Practice

A rat-like robot for interacting with real rats

Qing Shi, Hiroyuki Ishii, Shinichi Kinoshita, Shinichiro Konno, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura

Robotica

Modulation of rat behaviour by using a rat-like robot

Qing Shi, Hiroyuki Ishii, Shinichi Kinoshita, Shinichiro Konno, Atsuo Takanishi, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Shigenobu Shibata

Bioinspiration&Biomimetics

Cross-cultural study on human-robot greeting interaction: acceptance and discomfort by Egyptians and Japanese

Gabriele Trovato, Massimiliano Zecca, Salvatore Sessa, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto and Atsuo Takanishi

Journal of Behavioral Robotics

Cross-Cultural Perspectives on Emotion Expressive Humanoid Head: Recognition of Facial Expressions and Symbols

Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

International Journal of Social Robotics

Perception of Emotion and Emotional Intensity in Humanoid Robots Gait

Matthieu Destephe, Andreas Henning, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

The 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013)

Integrating the whole cost-curve of stereo into occupancy grids

Martim Brandão, Ricardo Ferreira, Kenji Hashimoto, José Santos-Victor and Atsuo Takanishi

The 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Emotional Gait Generation Method based on Emotion Mental Model - Preliminary experiment with Happiness and Sadness -

Matthieu Destephe, Kenji Hashimoto and Atsuo Takanishi

The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI2013)

Reaching for the unreachable: integration of locomotion and whole-body movements for extended visually guided reaching

Martim Brandão, Lorenzo Jamone, Przemyslaw Kryczka, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi

The 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2013)

Active Gaze Strategy for Reducing Map Uncertainty along a Path

Martim Brandão, Ricardo Ferreira, Kenji Hashimoto, José Santos-Victor and Atsuo Takanishi

The 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2013)

Natural human–robot musical interaction: understanding the music conductor gestures by using the WB-4 inertial measurement system

Sarah Cosentino, Klaus Petersen, Zhuohua Lin, Luca Bartolomeo, Salvatore Sessa, Massimiliano Zecca ,Atsuo Takanishi

Advanced Robotics

Human-humanoid robot social interaction: Laughter

Sarah COSENTINO, Tatsuhiro KISHI, Massimiliano ZECCA,Salvatore SESSA, Luca BARTOLOMEO, Kenji HASHIMOTO,Takashi NOZAWA, Atsuo TAKANISHI

International Conference on Robotics and Biomimetics (ROBIO)

Development of a real-time IMU-based motion capture system for gait rehabilitation

W. Kong, S. Sessa, S. Cosentino, M. Zecca, K. Saito, C. Wang, U. Imtiaz, Z. Lin, L. Bartolomeo, H. Ishii, T. Ikai, and A. Takanishi

International Conference on Robotics and Biomimetics (ROBIO)

A Novel Approach to Evaluate Skills in Endotracheal Intubation Using Biomechanical Measurement System

Y. Matsuoka, L. Bartolomeo, T. Chihara, U. Imtiaz, K. Saito, W. Kong, Y. Noh, Y. Kasuya, M. Nagai, M. Ozaki, C. Wang, S. Sessa, Member, IEEE, H. Ishii,M. Zecca, and A. Takanishi

International Conference on Robotics and Biomimetics (ROBIO)

Development of parallel manipulator sit to stand assistive device for elderly people

Omar Salah, Ahmed Asker, Ahmed M. R. Fath El-Bab, Samy M. F. Assal, Ahmed A. Ramadan,Salvatore Sessa, and Ahmed Abo-Ismail

Workshop on Advanced Robotics and its Social Impacts (ARSO)

Development of Robotic System for Autonomous Liver Screening Using Ultrasound Scanning Device

Ammar Safwan Bin Mustafa, Takashi Ishii, Yoshiki Matsunaga, Ryu Nakadate, Hiroyuki Ishii, Kouji Ogawa, Akiko Saito, Motoaki Sugawara, Kiyomi Niki, Atsuo Takanishi

Proceeding of the 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

Embedded Force Sensors in Simulator are Useful for Objective Skill Assessments of Tracheal Intubation

Hiroyuki Ishii, Satoru Shoji, Noriyuki Matuoka, Yusuke Nakae, Tamotsu Katayama, Atsuo Takanishi

Journal of the Society for Simulation in Healthcare

A Novel Approach to Evaluate Skills in Endotracheal Intubation Using Biomechanical Measurement System

Y. Matsuoka, L. Bartolomeo,T. Chihara, U. Imtiaz, K. Saito, W. Kong, Y. Noh, Y. Kasuya, M. Nagai, M. Ozaki, C. Wang, S. Sessa, H. Ishii, M. Zecca,A. Takanishi

International Conference on Robotics and Biomimetics (ROBIO)

Development of a head robot with facial expression for training on neurological disorders

T. Chihara, C. Wang, A. Niibori, T. Oishio, Y. Matsuoka, S. Sessa, H. Ishii, Y. Nakae, N. Matsuoka, T. Takayama,A. Takanishi

International Conference on Robotics and Biomimetics (ROBIO)

Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet

Kenji Hashimoto, Kentaro Hattori, Takuya Otani, Hun-ok Lim and Atsuo Takanishi

The Scientific World Journal

Comparison of Bipedal Humanoid Walking with Human Being Using Inertial Measurement Units and Force-Torque Sensors

Gautam Narang, Weisheng Kong, Xu Pu, Arjun Narang, Soumya Singh, Kenji Hashimoto, Massimiliano Zecca, Atsuo Takanishi

The 2013 IEEE/SICE International Symposium on System Integration (SII2013)

Towards Dynamically Consistent Real-time Gait Pattern Generation for Full-size Humanoid Robots

Przemyslaw Kryczka, Yukitoshi Minami Shiguematsu, Petar Kormushev, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

The 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013)

Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

Przemyslaw Kryczka, Petar Kormushev, Kenji Hashimoto, Hun-Ok Lim, Nikos G. Tsagarakis, Darwin G. Caldwell and Atsuo Takanishi

The 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI2013)

Generation of Humanoid Robot's Facial Expressions for Context-Aware Communication

Gabriele Trovato, Massimiliano Zecca, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi

International Journal of Humanoid Robotics

Towards Culture-specific Robot Customisation: A Study on Greeting Interaction with Egyptians

Gabriele Trovato, Massimiliano Zecca, Salvatore Sessa, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto and Atsuo Takanishi

The 22nd IEEE International Symposium on Robot and Human Interactive Communication

Conveying Emotion Intensity with Bio-inspired Expressive Walking -Experiments with Sadness and Happiness-

Matthieu Destephe, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

The 22nd IEEE International Symposium on Robot and Human Interactive Communication

The Influences of Emotional Intensity for Happiness and Sadness on Walking

Matthieu Destephe, Takayuki Maruyama, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

The 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Impression Survey of the Emotion Expression Humanoid Robot with Mental Model based Dynamic Emotions

Tatsuhiro Kishi, Takuya Kojima, Nobutsuna Endo, Matthieu Destephe, Takuya Otani, Lorenzo Jamone, Przemyslaw Kryczka, Gabriele Trovato, Kenji Hashimoto, Sarah Cosentino and Atsuo Takanishi

The 2013 IEEE International Conference on Robotics and Automation

Objective Skill Evaluation for Laparoscopic Training Based on Motion Analysis

Zhuohua Lin, Munenori Uemura, Massimiliano Zecca, Salvatore Sessa, Hiroyuki Ishii, Morimasa Tomikawa, Makoto Hashizume, Atsuo Takanishi

IEEE Transactions on Biomedical Engineering

Induced Mental Stress in Peg Board Training: Motion and Muscle Analysis for Performance Evaluation

Luca Bartolomeo, Massimiliano Zecca, Salvatore Sessa, Zhuohua Lin, Hiroyuki Ishii, Atsuo Takanishi

International Journal of Computer Assisted Radiology and Surgery

A Methodology for the Performance Evaluation of Inertial Measurement Units

Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Hiroyuki Ishii, Atsuo Takanishi

Journal of Intelligent & Robotic Systems

ANFIS-based Sensor Fusion System of Sit-to-stand for Elderly People Assistive Device Protocols

Omar Salah, Ahmed A. Ramadan, Salvatore Sessa, Ahmed Abo Ismail, Makasatsu Fujie, Atsuo Takanishi

International Journal of Automation and Computing

Biomechanical evaluation of the phases during simulated Endotracheal Intubation (ETI): Pilot study on the effect of different laryngoscopes

Luca Bartolomeo, Yohan Noh, Yusuke Kasuya, Mirei Nagai, Massimiliano Zecca, Salvatore Sessa, Sarah Cosentino, Kohei Saito, Hiroyuki Ishii, Zhuohua Lin, Atsuo Takanishi

The 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Use of an ultra-miniaturized IMU-based motion capture system for objective evaluation and assessment of walking skills

Massimiliano Zecca, Kohei Saito, Salvatore Sessa, Luca Bartolomeo, Zhuohua Lin, Sarah Cosentino, Hiroyuki Ishii, Tetsuo Ikai, Atsuo Takanishi

The 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society

Walking assessment in the phase space by using Ultra-miniaturized Inertial Measurement Units

Salvatore Sessa, Kohei Saito, Massimiliano Zecca, Luca Bartolomeo, Zhuohua Lin, Sarah Cosentino, Hiroyuki Ishii, Tetsuo Ikai, Atsuo Takanishi

IEEE International Conference on Mechatronics and Automation

Design of a Wireless Miniature Low cost EMG Sensor using Gold Plated Dry Electrodes for Biomechanics research

Usama Imtiaz, Luca Bartolomeo, Zhuohua Lin, Salvatore Sessa, Hiroyuki Ishii, Kohei Saito, Massimiliano Zecca, Atsuo Takanishi

IEEE International Conference on Mechatronics and Automation

Walking Stabilization Based on Gait Analysis for Biped Humanoid Robot

Kenji Hashimoto, Yuki Takezaki, Hun-ok Lim and Atsuo Takanishi

Advanced Robotics

A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm

Giovanni G. Muscolo, Kenji Hashimoto, Paolo Dario and Atsuo Takanishi

Journal of Robotics

大腸内視鏡トレーニングシミュレータでの手技評価に関する研究

Development of a Human-like Neurologic Model to Simulate the Influences of Diseases for Neurologic Examination Training

Chunbao Wang, Yohan Noh, Mitsuhiro Tokumoto, Chihara Terunaga, Matsuoka Yusuke, Hiroyuki Ishii, Salvatore SESSA, Massimiliano ZECCA, Atsuo Takanishi, Kazuyuki Hatake, Satoru Shoji

ICRA2013

Improving the Human-Robot Interaction through Emotive Movements - A Special Case: Walking -

Matthieu Destephe, Takayuki Maruyama, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi

The 8th ACM/IEEE International Conference on Human-Robot Interaction

Evaluation Study on Asymmetrical Facial Expressions Generation for Humanoid Robot

Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi

The 1st International Conference on Innovative Engineering Systems

Development of Facial Expressions Generator for Emotion Expressive Humanoid Robot

Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi

The 2012 IEEE-RAS International Conference on Humanoid Robots

A Cross-Cultural Study on Generation of Culture Dependent Facial Expressions of Humanoid Social Robot

Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi

The 4th International Conference on Social Robotics

Interactive Online Learning of the Kinematic Workspace of a Humanoid Robot

Lorenzo Jamone, Lorenzo Natale, Giulio Sandini and Atsuo Takanishi

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Development of Expressive Robotic Head for Bipedal Humanoid Robot

Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto, Kei Nakata and Atsuo Takanishi

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Development of Adjustable Stiffness Mechanism for Bipedal Walking Robot

Aiman Omer, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

The Second IFToMM ASIAN Conference on Mechanism and Machine Science

A robotic implementation of a bio-inspired head motion stabilization model on a humanoid platform

Przemyslaw Kryczka, Egidio Falotico, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Realization of Biped Walking on Soft Ground with Stabilization Control Based on Gait Analysis

Kenji Hashimoto, Hyun-jin Kang, Masashi Nakamura, Egidio Falotico, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz

The 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Musical robots: towards a natural joint performance

Sarah Cosentino, Yoshihisa Sugita, Massimiliano Zecca, Salvatore Sessa, Zhuohua Lin, Klaus Petersen, Luca Bartolomeo, Hiroyuki Ishii, Kohei Saito, Atsuo Takanishi

ICIES 2012 - IEEE International Conference on Innovative Engineering Systems

Assessment of walking quality by using Inertial Measurement Units

Kohei Saito, Massimiliano Zecca, Salvatore Sessa, Zhuohua Lin, Luca Bartolomeo, Sarah Cosentino, Klaus Petersen, Hiroyuki Ishii, And Atsuo Takanishi

ICIES 2012 - IEEE International Conference on Innovative Engineering Systems

Music conductor gesture recognition by using inertial measurement system for human-robot musical interaction

Sarah Cosentino, Yoshihisa Sugita, Massimiliano Zecca, Salvatore Sessa, Zhuohua Lin, Klaus Petersen, Hiroyuki Ishii, Atsuo Takanishi

ROBIO 2012 - IEEE International conference on Robotics and Biomimetics

Performance Evaluation of the Wireless Inertial Measurement Unit WB-4 with Magnetic Field Calibration

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, and Atsuo Takanishi

ROBIO 2012 - IEEE International conference on Robotics and Biomimetics

Development of the Waseda Saxophonist Robot No.2 Refined III: New Air Pump and Eye Mechanism

Jorge Solis, Klaus Petersen, Jumpei Kashiwakura, Yutaka Saitoh, Massimiliano Zecca, Atsuo Takanishi

The 2nd IFToMM ASIAN Conference on Mechanism and Machine Science (ASIAN-MMS2012)

Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimisation

Giovanni G. Muscolo, Carmine T. Recchiuto, Kenji Hashimoto, Paolo Dario and Atsuo Takanishi

Journal of Mechanical Engineering and Automation

Towards Natural Emotional Expression and Interaction: Development of Anthropomorphic Emotion Expression and Interaction Robots

Atsuo Takanishi, Nobutsuna Endo and Klaus Petersen

International Journal of Synthetic Emotions

A methodology for the performance evaluation of Inertial Measurement Units

Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Hiroyuki Ishii and Atsuo Takanishi

Journal of Intelligent and Robotic Systems

Online magnetic calibration of a cutting edge 9-axis wireless Inertial Measurement Unit

Luca Bartolomeo, Zhuohua Lin, Salvatore Sessa, Massimiliano Zecca, Hiroyuki Ishii, Atsuo Takanishi

International Journal of Applied Electromagnetics and Mechanics

Gait Phase Detection using Foot Acceleration for Estimating Ground Reaction Force in Long Distance Gait Rehabilitation

Kawamura, Morita, Okamoto, Saito, Sessa, Zecca, Takanishi, Takasugi, Fujie

Journal of Robotics and Mechatronics

Objective Skill Evaluation for Laparoscopic Training Based on Motion Analysis

Lin, Uemura, Zecca,Sessa, Ishii, Tomikawa, Hashizume, Takanishi

Biomedical Engineering, IEEE Transactions on

Wavelet thresholding technique for sEMG denoising by baseline estimation

Luca Bartolomeo, Salvatore Sessa, Massimiliano Zecca, Atsuo Takanishi

International Journal of Computer Aided Engineering and Technology

A novel method to develop an animal model of depression using a small mobile robot

Hiroyuki Ishii,Qing Shi,Shogo Fumino,Shinichiro Konno,Satoshi Okabayashi,Naritoshi Iida,Hiroshi Kimura,Yu Tahara, Shigenobu Shibata,Atsuo Takanish

Advanced Robotics

Head Stabilization Based on a Feedback Error Learning in a Humanoid Robot

Egidio Falotico, Nino Cauli, Kenji Hashimoto, Przemyslaw Kryczka, Atsuo Takanishi, Paolo Dario, Alain Berthoz and Cecilia Laschi

The 21st IEEE International Symposium on Robot and Human Interactive Communication

Implementation of a Human Model for Head Stabilization on a Humanoid Platform

Przemyslaw Kryczka, Egidio Falotico, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz

The fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

Biped Walking Stabilization on Soft Ground Based on Gait Analysis

Hyun-jin Kang, Kenji Hashimoto, Kosuke Nishikawa, Egidio Falotico, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz

The fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

Biped Walking Stabilization Based on Gait Analysis

Kenji Hashimoto, Yuki Takezaki, Hiromitsu Motohashi, Takuya Otani, Tatsuhiro Kishi, Hun-ok Lim and Atsuo Takanishi

The 2012 IEEE International Conference on Robotics and Automation

A Robotic Implementation of a Bio-Inspired Head Motion Stabilization Model on a Humanoid Platform

Przemyslaw Kryczka, Egidio Falotico, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi, Cecilia Laschi, Paolo Dario and Alain Berthoz

IEEE/RSJ International Conference on Intelligent Robots and Systems

Overload Protection Mechanism for 6-axis Force/Torque Sensor

Kenji Hashimoto, Teppei Asano, Yuki Yoshimura, Yusuke Sugahara, Hun-Ok Lim and Atsuo Takanishi

the 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)

Learning the Reachable Space of a Humanoid Robot: a Bio-inspired Approach

Lorenzo Jamone, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini and Atsuo Takanishi

The fourth IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

Development of Distributed Control System and Modularized Motor Controller for Expressive Robotic Head

Takuya Otani, Tatsuhiro Kishi, Przemek Kryczka, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi

The 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)

Development of Anthropomorphic Soft Robotic Hand WSH-1RII

Nobutsuna Endo, Takuya Kojima, Keita Endo, Fumiya Iida, Kenji Hashimoto and Atsuo Takanishi

The 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)

Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts and Facial Color

Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto, Kei Nakata and Atsuo Takanishi

The 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2012)

Development of expressive robotic head for bipedal humanoid robot

Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo. Przemyslaw Kryczka. Kenji Hashimoto, Nakata K, Atsuo Takanishi

IEEE/RSJ International Conference on Intelligent Robots and Systems

Biomechanical analysis of induced mental stress in laparoscopy surgical training by surface Electromyography

Luca Bartolomeo, Massimiliano Zecca, Salvatore Sessa, Zhuohua Lin, Hiroyuki Ishii, Hao Xu, Munenori Uemura, Yoshihiro Nagao, Morimasa Tomikawa, Makoto Hashizume and Atsuo Takanishi

IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

Development of Airway Management Training System WKA-4: Provide Useful Feedback of Trainee Performance to Trainee during Airway Management

Yohan Noh, Chunbao Wang, Mitsuhiro Tokumoto, Hiroyuki Ishii, and Atsuo Takanishi, Kazuyuki Hatake, Satoru Shoji

International Conference on Complex Medical Engineering (CME 2012),

Commercialization on Robotic Airway Management Simulator which can provide Clinical Skills Assessment and simulate Various Difficult Airway Situations

Yohan Noh

2012 International Symposium on Micro-NanoMechatronics and Human Science satelｌite symposium

Development of whole-body emotional expression Humanoid Robot for ADL-Assistive RT Services

Nobutsuna Endo and Atsuo Takanishi

Journal of Robotics and Mechatronics

Learning Task Space Control through Goal Directed Exploration

Lorenzo Jamone, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini and Atsuo Takanishi

The 2011 IEEE International Conference on Robotics and Biomimetics

Initial Study of Bipedal Robot Locomotion Approach on Different Gravity Levels

Aiman Musa M. Omer, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

The 2011 IEEE/SICE International Symposium on System Integration (SI International 2011)

Biped Walking Technology in Dynamic Environments: FFT-based Online Walking Pattern Generation and Walking Stabilization against External Disturbances

Kenji Hashimoto and Atsuo Takanishi

The 2011 IEEE-RAS International Conference on Humanoid Robots, Workshop 4: Humanoid service robot navigation in crowded and dynamic environments

A Method for the Calculation of the Effective Center of Mass of Humanoid Robots

Giovanni Muscolo, Carmine Recchiuto, Kenji Hashimoto, Cecilia Laschi, Paolo Dario and Atsuo Takanishi

The 2011 IEEE-RAS International Conference on Humanoid Robots

Development of a Hybrid Wheel-legged Mobile Robot WR-3 Designed for the Behavior Analysis of Rats

Qing Shi,Hiroyuki Ishii,Shunsyuke Miyagishima,Shinichiro Konno,Shogo Fumino,Atsuo Takanish,Satoshi Okabayashi,Naritoshi Iida,Hiroshi Kimura

Advanced Robotics

A Robot-rat Interaction Experimental System based on the Rat-inspired Mobile Robot WR-4

Qing Shi,Hiroyuki Ishii,Shogo Fumino,Shinichiro Konno,Atsuo Takanish,Satoshi Okabayashi,Naritoshi Iida,Hiroshi Kimura

IEEE International Conference on Robotics and Biomimetics

Stretched Knee Walking with Novel Inverse Kinematics for Humanoid Robots

Przemyslaw Kryczka, Kenji Hashimoto, Hideki Kondo, Aiman Omer, Hun-ok Lim and Atsuo Takanishi

The 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011)

Realization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet

Kenji Hashimoto, Yuki Yoshimura, Hideki Kondo, Hun-ok Lim and Atsuo Takanishi

The 2011 IEEE International Conference on Robotics and Automation (ICRA2011)

Learning a Reachable Space Map in a Gaze Centered Reference Frame

Lorenzo Jamone, Matthieu Destephe, Lorenzo Natale, Kenji Hashimoto, Atsuo Takanishi and Giulio Sandini

The first joint IEEE International Conference on Development and Learning and on Epigenetic Robotics

Towards high-level, cloud-distributed robotic telepresence: Concept introduction and preliminary experiments

Petersen, K.; Fukui, K.; Lin, Z.; Endo, N.; Kazuki, E.; Ishii, H.; Zecca, M.; Takanishi, A.; Asfour, T.; Dillmann, R

IEEE RO-MAN 2011

Out-of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System

Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

IEEE International Conference on Robotics and Automation (ICRA2011)

A Robot-rat Interaction Experimental System based on the Rat-inspired Mobile Robot WR-4

Qing Shi,Hiroyuki Ishii,Shogo Fumino,Shinichiro Konno,Atsuo Takanish,Satoshi Okabayashi,Naritoshi Iida,Hiroshi Kimura

IEEE International Conference on Robotics and Biomimetics

Shape Estimation of the Flexible Endoscope Using Sensor Network

Jaewoo Lee, Junichi. Kinoshita,Daisuke Kikuchi,Itoh Kazuko, Hiroyuki Ishii, Makoto Hasizume, Atsuo Takanishi

25th International Conference on Computer Assisted Radiology and Surgery

Shape Visualization Method of Flexible Colonoscopy Using non Visual Sensor Network for Monitoring of Operation

Jaewoo Lee, Hiroyuki Ishii, Atsuo Takanishi

33th Annual International Conference of the IEEE EMBS

Simulation Model Which Can Visualize the Shape of Flexible Colonoscope Using Orientation Sensor Network

Jaewoo Lee, Genya Ukawa, Shuna Doho, Zhuohua Lin, Hiroyuki Ishii, Atsuo Takanishi

Proceedings of Biomechanics2011

Non Visual Sensor Based Shape Perception Method for Navigation System of Flexible Colonoscopy Robot

Jaewoo Lee, Genya Ukawa, Shuna Doho, Hiroyuki Ishii, Zhuohua Lin,Massimiliano Zecca,Atsuo Takanishi

IEEE International Conference on Robotics and Biomimetics 2011

Empirical Analysis of Biomechanical Characteristics of Colon and Design Parameter Estimation

Jaewoo Lee, Genya Ukawa, Shuna Doho,, Hiroyuki Ishii, Atsuo Takanishi

IEEE International Conference on Robotics and Biomimetics 2011

Development of a Robot which can Simulate Swallowing of Food Boluses With Various Properties for the Study of Rehabilitation of Swallowing Disorders

Yohan Noh, Kei Sato, Wang Chunbao, Hiroyuki Ishii, Jorge Solis, Kazuyuki Hatake, Atsuo Takanishi, Akitoshi Katsumata, Yukihiro Iida

2011 IEEE International Conference on Robotics and Automation (ICRA 2011)

Development of the Airway Management Training System WKA-4 : Improved High-Fidelity Reproduction of Real Patient Conditions and Improved Tongue and Mandible Mechanisms

Yohan Noh, Kei Sato, Wang Chunbao, Hiroyuki Ishii, Jorge Solis, Atsuo Takanishi, Kazuyuki Hatake, Satoru Shoji

2011 IEEE International Conference on Robotics and Automation (ICRA 2011)

Workspace analysis and design improvement of a carotid flow measurement system

G.Carbone, R.Nakadate, J.Solis, M.Ceccarelli, A.Takanishi, E.Minagawa, M.Sugawara, K.Niki

Proceedings of Part H: Journal of Engineering in Medicine

Disturbance Compensation Control for Biped Vehicle

Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

Advanced Robotics

Speech Robot Mimicking Human Articulatory Motion

Kotaro Fukui, Toshihiro Kusano, Yoshikazu Mukaeda, Yuto Suzuki, Atsuo Takanishi, Masaaki Honda

INTERSPEECH(Annual Conference of the International Speech Communication Association) 2010

Development of Assisted-Robotic System WTA-2 for Ultrasound for abdominal Diagnosis

Ryu Nakadate, Yasuaki Tokunaga, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki, Akiko Saito

The 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010)

Implementation of an Automatic Scanning and Detection Algorithm for the Carotid Artery by an Assisted-Robotic Measurement System

Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki, Akiko Saito

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Experimental Evaluation of Stiffness Performance for a Biped Walking Vehicle with Parallel Architecture

Kenji Hashimoto, Giuseppe Carbone, Yusuke Sugahara, Marco Ceccarelli and Atsuo Takanishi

The 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)

Everything is affordance: Towards affordance representation in robotic long term memory for emotion-based sensory prediction model – a preliminary work

Matthieu Destephe, Kenji Hashimoto and Atsuo Takanishi

The 4th International Workshop on Cybernics( IWC2011)

Simulation Study of a Bipedal Robot Jumping Motion Approach on Moon Gravity

Aiman Musa M. Omer, Hun-ok Lim and Atsuo Takanishi

IEEE International Conference on Robotics and Biomimetics (Robio2010)

A Study of Function of the Human’s Foot Arch Structure Using Biped Humanoid Robot

Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo, Takamichi Takashima, Hun-ok Lim and Atsuo Takanishi

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Simulation of a Humanoid Robot walking gait on Moon Surface

Aiman Musa M. Omer, Hun-ok Lim and Atsuo Takanishi

The 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2010)

Implementation of an Overblowing Correction Controller and the Proposal of a Quantitative Assessment of the Sound’s Pitch for the Anthropomorphic Saxophonist Robot WAS-2

Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K.

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Implementation of a Musical Performance Interaction System for the Waseda Flutist Robot: Combining Visual and Acoustic Sensor Input based on Sequential Bayesian Filterings

Petersen, K., Solis. J., Takanishi, A.

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Project-Based Learning Implementation and Development of Educational Robots at Waseda University,

Solis, J., Takanishi, A.

SIMPAR2010 Workshop on Teaching Robotics, Teaching with Robotics

Imitating the Saxophone Playing by the Anthropomorphic Saxophonist Robot

Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K.

The 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010)

Toward Understanding the Nature of Musical Performance and Interaction with Wind Instrument-Playing Humanoids

Solis, J., Takanishi, A.

The 19th IEEE International Symposium in Robot and Human Interactive Communication (Ro-Man 2010)

Integration of Emotion Expression and Visual Tracking Locomotion Based on Vestibulo-Ocular Reflex

Nobutsuna Endo, Keita Endo, Kenji Hashimoto, Takuya Kojima, Fumiya Iida,　and Atsuo Takanishi

The 19th IEEE International Symposium in Robot and Human Interactive Communication (Ro-Man 2010)

Development of the Anthropomorphic Soft Robotic Hand WSH-1R

Nobutsuna Endo, Fumiya Iida, Keita Endo, Yu Mizoguchi, Massimiliano Zecca, and Atsuo Takanishi

The First IFToMM Asian Conference on Mechanism and Machine Science (Asian-MMS 2010)

Development of an Ultra-miniaturized Inertial Measurement Unit WB-3 for Human Body Motion Tracking

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, Kazuko Itoh, Atsuo Takanishi

2010 IEEE/SICE International Symposium on System Integration(SII2010)

Development of the Miniaturized Wireless Inertial Measurement Unit WB-4: Pilot Test for Mastication Analysis

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Luca Bartolomeo, Hiroyuki Ishii, Kazuko Itoh, Atsuo Takanishi

2010 IEEE/SICE International Symposium on System Integration(SII2010)

Objective Evaluation of Laparoscopic Surgical Skills Using Waseda Bioinstrumentation System WB-3

Zhuohua Lin, Munenori Uemura, Massimiliano Zecca, Salvatore Sessa, Hiroyuki Ishii, Luca Bartolomeo, Kazuko Itoh, Morimasa Tomikawa, Takeshi Odaira, Kazuo Tanoue, Satoshi Ieiri, Kozo Konishi, Makoto Hashizume, Atsuo Takanishi

IEEE International Conference on Robotics and Biomimetics (Robio2010)

Ultra-miniaturized WB-3 Inertial Measurement Unit: performance evaluation of the attitude estimation

Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Luca Bartolomeo, Kazuko Itoh, Hiroyuki Ishii, Yoshikazu Mukaeda, Yuto Suzuki, Atsuo Takanishi

IEEE International Conference on Robotics and Biomimetics (Robio2010)

Design and Development of Bio-mimetic Quadruped Robot

Hiroyuki Ishii, Qing Shi, Yuichi Masuda, Syunsuke Miyagishima, Syogo Fujino, Atsuo Takanish, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura

Proceedings of the 18th CISM-IFToMM Symposium

Development of the Hybrid Wheel-legged Mobile Robot WR-3 Designed to Interact with Rats

Qing Shi, Shunsyuke Miyagishima, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanish, Celilia Laschi, Barbara Mazzolai,Virgilio Mattoli,Paolo Dario

The 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010)

Development of a Novel Quadruped Mobile Robot for Behavior Analysis of Rats

Qing Shi, Shunsyuke Miyagishima, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanish, Celilia Laschi, Barbara Mazzolai,Virgilio Mattoli,Paolo Dario

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Development of Experimental Setup to Create Novel Mental Disorder Model Rats Using Small Mobile Robot

Hiroyuki Ishii, Qing Shi, Atsuo Takanish, Satoshi Okabayashi, Naritoshi Iida, Hiroshi Kimura, Yu Tahara, Akiko Hirao, Shigenobu Shibata

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Development of a Cognition System for Analysis of Rat’s Behaviors

Qing Shi, Shunsyuke Miyagishima, Shogo Fumino, Hiroyuki Ishii, Atsuo Takanish,

IEEE International Conference on Robotics and Biomimetics (Robio2010)

Development of the Airway Management Training System WKA-3 : Integration of Evaluation Module to Provide Assessment of Clinical Competence and Feedback Module to Reproduce Different Cases of Airway Difficulties

Yohan Noh, Kei Sato, Akihiro Shimomura, Masanao Segawa, Hiroyuki ISHII, Jorge Solis, Atsuo Takanishi, Kazuyuki Hatake

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Development of Patient Scenario Generation Which Can Reproduce Characteristics of the Patient for Simulating Real-World Conditions of Task for Airway Management Training System WKA-3

Yohan Noh, Akihiro Shimomura, Kei Sato, Masanao Segawa, Hiroyuki ISHII, Jorge Solis, Atsuo Takanishi, Kazuyuki Hatake

The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010)

Development of an Ultra-Miniaturized Inertial Measurement Unit for Jaw Movement Analysis during Free Chewing

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Hiroyuki Ishii and Atsuo Takanishi

Journal of Computer Science

Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure

Solis, J., Takeshi, N., Petersen, K., Takeuchi, M., Takanishi, A.,

Advanced Robotics Journal

Musical-Based Interaction System for the Waseda Flutist Robot: Implementation of the Visual Tracking Interaction Module

Petersen, K., Solis, J., Takanishi, A.

Autonomous Robotics Journal

Implementation of an Auditory Feedback Control System on an Antropomorphic Flutist Robot Inspired on the Performance of a Professional Flutist

Solis, J., Taniguchi, K., Ninomiya, T., Petersen, K., Yamamoto, T., Takanishi, A.

Advanced Robotics Journal

Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

Gabriele Trovato, Masaki Shikanai, Genya Ukawa, Junichi Kinoshita, Natsuki Murai, Jae Woo Lee, Hiroyuki Ishii, Atsuo Takanishi, Kazuo Tanoue, Satoshi Ieiri, Kozo Konishi, Makoto Hashizume

International Journal of Computer Assisted Radiology and Surgery

Development of Assisted-Robotic System Designed to Measure the Wave Intensity with an Ultrasonic Diagnostic Device

R. Nakadate,H. Uda, H. Hirano, J. Solis, A. Takanishi, E. Minagawa, M. Sugawara, K. Niki

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009)

Development of the Ultrasound Probe Holding Robot WTA-1RII and Implementation of an Automated Scanning Method based on Ultrasound Image Feedback

Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Motoaki Sugawara, Kiyomi Niki and Eiichi Minagawa

the 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy2010)

Development of New Biped Foot Mechanism Mimicking Human’s Foot Arch Structure

Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo, Takamichi Takashima, Hun-ok Lim and Atsuo Takanishi

The 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2010)

FFT-based Short Period Walking Pattern Generation for Humanoid Robot having Predictability of Environment

Hideki Kondo, Atsuo Takanishi and Kenji Hashimoto

The 2010 Robotics: Science and Systems Conference: Workshop on Predictive Models in Humanoid Gaze Control and Locomotion

Realization of Biped Walking on Uneven Terrain by New Foot Mechanism Capable of Detecting Ground Surface

Hyun-jin Kang, Kenji Hashimoto, Hideki Kondo, Kentaro Hattori, Kosuke Nishikawa, Yuichiro Hama, Hun-ok Lim, Atsuo Takanishi, Keisuke Suga and Keisuke Kato

The 2010 IEEE International Conference on Robotics and Automation

Avoidance Behavior from External Forces for Biped Vehicle

Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

The 2010 IEEE International Conference on Robotics and Automation

Evaluation of the KOBIAN and HABIAN Emotion Expression Humanoid Robots with European Elderly People

Massimiliano Zecca, Giovanna Macri, Yu Mizoguchi, Vito Monaco, Nobutsuna Endo, Kazuko Itoh, Paolo Dario and Atsuo Takanishi

The 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2010)

Modular Design of Emotion Expression Humanoid Robot KOBIAN

Nobutsuna Endo, Keita Endo, Massimiliano Zecca and Atsuo Takanishi

The 18th CISM-IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY2010)

Development of the Anthropomorphic Waseda Saxophonist Robot

Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K.

ROMANSY 18 - Robot Design, Dynamics, and Control

Development of the Waseda Flutist Robot Toward Enhancing the Interaction with Human Musical Partners

Petersen, K., Solis. J., Takanishi, A.

ROMANSY 18 - Robot Design, Dynamics, and Control

Development of the Waseda Saxophonist Robot and Implementation of an Auditory Feedback Control

Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K.

9th International Conference New Interfaces for Musical Expression

Design of New Mouth and Hand Mechanisms of the Anthropomorphic Saxophonist Robot and Implementation of an Air Pressure Feed-Forward Control with Dead-Time Compensation

Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K.

International Conference on Robotics and Automation

Development of a Wheeled Inverted Pendulum Robot and a Pilot Experiment with Master Students

Solis, J., Takanishi, A.

International Symposium on Mechatronics and its Applications

Mechanism Design Improvements of the Airway Management Training System WKA-3

Y. Noha, K.Satoa,A. Shimomuraa, M. Segawaa H. Ishiib, J. Solisbc, A. Takanishibc, K. Hataked

ROMANSY 18 - Robot Design, Dynamics, and Control

Development of a colon endoscope robot that adjusts its locomotion through the use of reinforcement learning

Gabriele Trovato, Masaki Shikanai, Genya Ukawa, Junichi Kinoshita, Natsuki Murai, Jae Woo Lee, Hiroyuki Ishii, Atsuo Takanishi, Kazuo Tanoue, Satoshi Ieiri, Kozo Konishi, Makoto Hashizume

Computer Assisted Radiology and Surgery

Design and development of bio-mimetic quadruped robot

H. Ishii, Q. Shi, Y. Masuda, S. Miyagishima, S. Fujino, A. Takanishi, S. Okabayahi, N. Iida, H. Kimura

RoManSy2010

Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure

Solis, J., Takeshi, N., Petersen, K., Takeuchi, M., Takanishi, A.

Advanced Robotics Journal

Implementation of an Auditory Feedback Control System on an Anthropomorphic Flutist Robot Inspired by the Performance of a Professional Flutist

Solis, J., Taniguchi, K., Ninomiya, T., Petersen, K., Yamamoto, T., Takanishi, A.

Advanced Robotics Journal

Path generator control system and virtual compliance calculator for maxillofacial massage robots

Ishii H., Koga H., Obokawa Y., Solis J., Takanishi A., Katsumata A.

International Journal of Computer Assisted Radiology ans Surgery

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

Ishii H., Koga H., Obokawa Y., Solis J., Takanishi A., Katsumata A.

International Journal of Robotics Research

An oral rehabilitation robot for massaging the masseter and temporal muscles: a preliminary report

Ariji Y., Katsumata A., Ogi An., Izumi M., Sakuma S., Iida Y., Hiraiwa Y., Kurita K., Igarashi C., Kobayashi K., Ishii H., Takanishi A., Ariji E.

Oral Radiology

Three-dimensional mechanical tongue and vocal cord models for human speech production

Kotaro Fukui, Eiji Shintaku,Yuma Ishikawa, Nana Sakakibara, Yoshikazu Mukaeda, Atsuo Takanishi, Masaaki Honda

Acoustical Society of America 157th Meeting

Three Dimensional Tongue with Liquid Sealing Mechanism for Improving Resonance on an Anthropomorphic Talking Robot

Kotaro Fukui, Yuma Ishikawa, Keisuke Ohno, Nana Sakakibara, Masaaki Honda, Atsuo Takanishi

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Attitude Compensation Control for Biped Humanoid Robot

Hyun-jin Kang, Shimpei Momoki, Hideki Kondo, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi

Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Simulation Based Study of a Semi-passive Dynamic Walking for a Human Size Humanoid Robot

Aiman Musa M. Omer, Reza Ghorbani, Hun-ok Lim and Atsuo Takanishi

Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Realization of Walking by FFT-based Online Pattern Generation

Hideki Kondo, Juri Shimizu, Kenji Hashimoto, Kentaro Hattori, Kosuke Nishikawa, Yuki Takezaki, Yuichiro Hama, Yuki Yoshimura, Hun-ok Lim and Atsuo Takanishi

Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Ultra-Miniaturized Inertial Measurement Unit WB-3 for Jaw Movement Analysis during Free Chewing

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Hiroyuki Ishii, Atsuo Takanishi

International Symposium on Robotics and Intelligent Sensors (IRIS2010)

Terrain-Adaptive Control with Small Landing Impact Force for Biped Vehicle

Kenji Hashimoto, Akihiro Hayashi, Terumasa Sawato, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Stiffness Analysis and Experimental Validation for WL-16RV Biped Walking Vehicle

Giuseppe Carbone, Kenji Hashimoto, Yusuke Sugahara, Marco Ceccarelli, Atsuo Takanishi

Proceedings of the 1st IFToMM International Symposium on Robotics and Mechatronics ISRM’09

Disturbance Avoidance Control from Environments for a Biped Walking Vehicle

Kenji Hashimoto, Terumasa Sawato, Akihiro Hayashi, Yuki Yoshimura, Teppei Asano, Hun-ok Lim and Atsuo Takanishi

Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines

Path generator control system and virtual compliance calculator for maxillofacial massage robots

Ishii H., Koga H., Obokawa Y., Solis J., Takanishi A., Katsumata A.

International Journal of Computer Assisted Radiology ans Surgery

Development and Experimental Evaluation of Oral Rehabilitation Robot that Provides Maxillofacial Massage to Patients with Oral Disorders

Ishii H., Koga H., Obokawa Y., Solis J., Takanishi A., Katsumata A.

International Journal of Robotics Research

An oral rehabilitation robot for massaging the masseter and temporal muscles: a preliminary report

Ariji Y., Katsumata A., Ogi An., Izumi M., Sakuma S., Iida Y., Hiraiwa Y., Kurita K., Igarashi C., Kobayashi K., Ishii H., Takanishi A., Ariji E.

Oral Radiology

Mechanism Design and Air-Pressure Feedback Control Implementation of the Anthropomorphic Waseda Saxophonist Robot

Solis J., Petersen K., Ninomiya T., Takeuchi M., Takanishi A.,

IEEE-RAS International Conference on Humanoid Robots

Development of Anthropomorphic Musical Performance Robots: From Understanding the Nature of Music Performance to Its Application in Entertainment Robotics

Solis J., Petersen K., Ninomiya T., Takeuchi M., Takanishi A.

IEEE/RSJ International Conference on Intelligent Robots and Systems

Development of the Two-Wheeled Inverted Pendulum Type Mobile Robot WV-2R for Educational Purposes

Solis J., Nakadate R., Yoshimura Y., Hama Y., Takanishi A.

IEEE/RSJ International Conference on Intelligent Robots and Systems

Development of a Aural Real-Time Rhythmical and Harmonic Tracking to Enable the Musical Interaction with the Waseda Flutist Robot

Petersen K., Solis J., Takanishi. A.

IEEE/RSJ International Conference on Intelligent Robots and Systems

Development of an Inverted Pendulum Type Mobile Robot for Educational Purposes

Solis, J., Takanishi, A.

1st IFToMM International Symposium on Robotics and Mechatronics

Development of the Waseda Flutist Robot

Solis, J., Takanishi, A.

First International Conference on Smart IT Applications

Practical Issues on Robotic Education and Challenges for Robo Ethics Education

Solis, J., Takanishi, A.

IEEE International Symposium on Robot and Human Interactive Communication,

Introduction of Mechatronics for Undergraduate Students Based on Robotic Platforms for Education Purposes

Solis, J., Takanishi, A.

IEEE International Symposium on Robot and Human Interactive Communication

Understanding the mechanisms of the human motor control by imitating saxophone playing with the Waseda Saxophonist Robot WAS-1

Solis, J., Takanishi, A.

IROS 2009 Workshop on Biologically-Inspired Robotics

Development of a Robotic Endoscope That Locomotes in the Colon with Flexible Helical Fins

Shikanai Masaki, Murai Natsuki, Takanishi Atsuo, Itoh Kazuko, Ishii Hiroyuki, Hashizume Makoto, Tanoue Kazuo, Ieiri Satoshi, Konishi Kozo

31st IEEE annual conference on engineering in medicine and biology society

Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure

J. Solis, N. Takeshi, K. Petersen, M. Takeuchi, A. Takanishi

Advanced Robotics Journal

Implementation of an Auditory Feedback Control System on an Antropomorphic Flutist Robot Inspired on the Performance of a Professional Flutist

J. Solis, K. Taniguchi, T. Ninomiya, K. Petersen, T. Yamamoto, A. Takanishi

Advanced Robotics Journal

Semi-Passive Dynamic Walking for Biped Walking Robot Using Controllable Joint Stiffness Based on Dynamic Simulation

Aiman Musa M. Omer, Reza Ghorbani, Hun-ok Lim, and Atsuo Takanishi

The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

Development of a Robotic Carotid Blood Measurement WTA-1RII:Mechanical Improvement of Gravity Compensation Mechanism and Optimal Link Position of the Parallel Manipulator based on GA

R. Nakadate, H. Uda, H. Hirano, J. Solis, A. Takanishi, E. Minagawa, M. Sugawara, Kiyomi Niki

The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

Development of Mechatronic Systems for Education Purpose to Introduce Robot Technology Principles

Solis J., Nakadate R.,Yamamoto T.,Takanishi A.

The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

Terrain-Adaptive Control to Reduce Landing Impact Force for Human-Carrying Biped Walking Robot

Kenji Hashimoto, Akihiro Hayashi, Terumasa Sawato, Yuki Yoshimura, Teppei Asano, Kentaro Hattori, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

Waseda Bioinstrumentation System WB-2R as a Wearable Tool for an Objective Analysis of Surgeon’s Performance

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Toshihiro Kusano, Kazuko Itoh, and Atsuo Takanishi

The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

Waseda Bioinstrumentation System WB-2R as a Wearable Tool for an Objective Analysis of Surgeon’s Performance

Z. Lin, M. Zecca, S. Sessa, T. Kusano, K. Itoh, and A. Takanishi

The 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

Waseda Bioinstrumentation System #3 as a tool for objective rehabilitation measurement and assessment– development of the inertial measurement unit –

Salvatore Sessa, Massimiliano Zecca, Zhuohua Lin, Tomoya Sasaki,Kazuko Itoh, Atsuo Takanishi

The 2009 IEEE 11th International Conference on Rehabilitation Robotics (ICORR2009)

Anthropomorphic Musical Performance Robots at Waseda University: Increasing Understanding of the Nature of Human Musical Interaction

Solis, J., Ninomiya, T., Petersen, K., Yamamoto, T.

9th International Conference New Interfaces for Musical Expression

New Challenges for the implementation of Robo Ethics Education in Japan

Solis, J., Takanishi, A.

ICRA2009: Workshop on Robo Ethics

Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Lip, Tonguing, Fingers and Air Pump Mechanisms

Petersen K., Solis J., Ninomiya T., Yamamoto T., Takeuchi M, Takanishi A.

International Conference on Robotics and Automation

Quantitative Assessment of the Surgical Training Methods with the Suture/Ligature Training System WKS-2RII

Solis J., Oshima N., Ishii, H., Matsuoka N, Takanishi A., Hatake K.

International Conference on Robotics and Automation

Objective Skill Analysis and Assessment in Neurosurgery by using the Waseda Bioinstrumentation System WB-3 - Pilot tests -

Z. Lin, M. Zecca, S. Sessa, T. Sasaki, T. Suzuki, K. Itoh, H. Iseki and A. Takanishi

Robotics and Mechatronics Conference (ROBOMEC 2009)

Three-dimensional mechanical tongue and vocal cord models for human speech production

Kotaro Fukui, Eiji Shintaku,Yuma Ishikawa, Nana Sakakibara, Yoshikazu Mukaeda, Atsuo Takanishi, Masaaki Honda

Acoustical Society of America 157th Meeting

Design Improvements On A Carotid Blood Flow Measurement System

G. Carbone, R. Nakadate, J.Solis, M. Ceccarelli, A. Takanishi, E. Minagawa, M. Sugawara, K. Niki

The 5th International Workshop on Computational Kinematics (CK2009)

Objective Skill Analysis and Assessment in Neurosurgery by using the Waseda Bioinstrumentation System WB-3 - Pilot tests -

Zhuohua Lin, Massimiliano Zecca, Salvatore Sessa, Tomoya Sasaki, Takashi Suzuki, Kazuko Itoh, Hiroshi Iseki, and Atsuo Takanishi

JSME Robotics and Mechatronics Conference 2009

Three-dimensional mechanical tongue and vocal cord models for human speech production

Kotaro Fukui, Eiji Shintaku,Yuma Ishikawa, Nana Sakakibara, Yoshikazu Mukaeda, Atsuo Takanishi, Masaaki Honda

Acoustical Society of America 157th Meeting

Introducing Robot Technology to Undergraduate Students at Waseda University

Solis, J., Takanishi, A.

ASME Asia-Pacific Engineering Education Congress

Evaluation of the Effects of the Shape of the Artificial Hand on the Quality of the Interaction – Natural Appearance vs. Symbolic Appearance –

M. Zecca, N. Endo, Y. Mizoguchi, K. Endo, F. Iiida, Y. Kawabata, K. Itoh, and A. Takanishi,

Human Robot Interaction 2009 (HRI2009)

Development of Walking Support System Based on Dynamic Simulation

Aiman Musa M. Omer, Hideki Kondo, Hun-ok Lim, and Atsuo Takanishi

The 2008 IEEE International Conference on Robotics and Biomimetics (Robio 2008)

Simulation of Semi-Passive Dynamic Walking For Biped Walking Robot

Aiman Musa M. Omer, Reza Ghorbani, Hun-ok Lim, and Atsuo Takanishi

The 2008 IEEE International Conference on Robotics and Biomimetics (Robio 2008)

Semi-Passive Dynamic Walking for Humanoid Robot Using Controllable Spring Stiffness on the Ankle Joint

Aiman Musa M. Omer, Reza Ghorbani, Hun-ok Lim, and Atsuo Takanishi

The 4th International Conference on Autonomous Robots and Agents (ICARA 2009)

Emulation of Human Walking by Biped Humanoid Robot with Heel-Contact and Toe-Off Motion

Hideki Kondo, Yu Ogura, Kazushi Shimomura, Shimpei momoki, Tatsu Okubo , Hun-Ok Lim and Atsuo Takanishi

Journal of Robotics and Mechatronics

Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi

Journal of Robotics and Mechatronics

Understanding the mechanisms of the human motor control by imitating flute playing with the Waseda Flutist Robot WF-4RIV

Solis, J., Taniguchi, K., Ninomiya, T., Yamamoto, T., Takanishi, A.

Mechanism and Machine Theory Journal

Vocal Cord Model to Control Various Voices for Anthropomorphic Talking Robot

Kotaro Fukui, Yuman Ishikawa, Eiji Shintaku, Keisuke Ohno, Nana Sakakibara, Atsuo Takanishi, Masaaki Honda

The 8th International Seminar on Speech Production (ISSP 08)

Development of Walking Support System Based on Dynamic Simulation

Aiman Musa M. Omer, Hideki Kondo, Hun-ok Lim, and Atsuo Takanishi

IEEE International Conference on Robotics and Biomimetics (Robio 2008)