Tahara Kenji 田原健二

… Alternative Names

TAHARA Kenji 田原健二

Less

Researcher Number	80392033
Other IDs	https://orcid.org/0000-0003-4457-7867
Affiliation (Current)	2025: 九州大学, 工学研究院, 教授
Affiliation (based on the past Project Information) *help	2020 – 2024: 九州大学, 工学研究院, 教授 2015 – 2019: 九州大学, 工学研究院, 准教授 2013 – 2015: 九州大学, 工学(系)研究科(研究院), 准教授 2013: 九州大学, 工学研究科, 准教授 2008 – 2010: Kyushu University, システム情報科学研究院, 特任准教授 2007 – 2010: Kyushu University, 大学院・システム情報科学研究院, 特任准教授 2006: 独立行政法人理化学研究所, 環境適応ロボットシステム研究チーム, 研究員
Review Section/Research Field	Principal Investigator Intelligent robotics / Medium-sized Section 61:Human informatics and related fields / Intelligent mechanics/Mechanical systems Except Principal Investigator Intelligent mechanics/Mechanical systems / Basic Section 61050:Intelligent robotics-related / Intelligent robotics / Perception information processing/Intelligent robotics
Keywords	Principal Investigator 人工筋肉 / 多指ハンド / 確率モデル / ソフトロボティクス / ソフトロボット / 高分子 / 状態推定 / マニピュレーション / ロバスト性 / 多指ロボットハンド … More / フィードバック / フィードフォワード / 時間遅れ / 柔軟指 / 確率最適化 / ソフトメカニクス / セルフセンシング / フィードフォワード制御 / 柔軟関節 / 最適制御 / 確率的モデル / 硬化阻害 / 可逆モデル / 補助装具 / 運動増幅 / オブザーバ / 繊維強度 / カルマンフィルタ / 対数正規分布 / モデル化 / 無音駆動 / シリコン指 / 内在筋 / 外在筋 / 無音 / 液冷 / 知能ロボット / 仮想フレーム / 筋骨格系 / 感覚運動統合 / 姿勢制御 / 力制御 / ロバスト / 透明シリコン / 触覚センサ / Friction Limit Surface / 楕円体 / カメラ / 転がり拘束 / 触覚 / 柔軟センサ / ハイブリッド移動 / 捻転足 / 歩容生成 / 半球足 / 立位安定化制御 / 捻転 / 車輪移動 / バランス制御 / 柔軟半球足 / 二足歩行 / 触覚情報 / 柔軟指先モデル / 外界センサー / 仮想位置・姿勢制御 / 接触面検出 / 柔軟指先センサ / 物体把持 / 力 / トルク平衡 / カ / 外界センサーレス把持 / 任意形状物体 / リーマン距離 / 3本指ロボット / 力/トルク平衡 / ポートハミルトン系 / 動的物体把持 / ダイナミクス / 柔軟モデル / ロボットハンド / ロボティクス / 非ホロノミック拘束 / ブラインドタッチ / Opposition / 安定把持 / 仮想バネ・ダンパー仮説 / リーチング動作 / 冗長性 / 筋骨格モデル … More Except Principal Investigator ロボット / 筋骨格ポテンシャル / 生体構造 / 運動生成 / バイオミメティクス / 生体システム / ソフトロボティクス / 人工筋肉 / 機能材料 / 高分子センサ / 高分子アクチュエータ / リアプノフ関数 / 幾何学条件 / ヘッセ行列 / 収束性 / 人工筋肉のモデル化 / 設計法の提案 / 収束条件の解明 / リアプノフの安定解析 / 位置制御 / 収束条件 / 筋配置 / 筋内力制御 / パラメータ推定 / 繰り返し学習制御 / 生体 / 国際研究者交流 (アメリカ合衆国) / 知覚運動制御 / ハプティクス / ロボティクス / 運動神経生理学・生体 / 適応・繰り返し学習制御 / 国際研究者交流 / スポーツ科学 / 生体力学・運動神経生理学 / システム制御 / ロボティクス・ハプティクス / 適応・学習制御 / 力触覚 / 触覚受容器 / 生理学 / 知能ロボティクス / 生物・生体工学 / 制御工学 / 機械力学・制御 Less

Design and Control Theory of Soft Robotics with Integrated Soft-Rigid Structures for Achieving Desired MotionsPrincipal Investigator
- Principal Investigator
  
  田原健二
- Project Period (FY)
  2024 – 2027
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Review Section
  
  Medium-sized Section 61:Human informatics and related fields
- Research Institution
  Kyushu University
Super multi-musculoskeletal soft robotics that combines musculoskeletal potential method and soft actuator
- Principal Investigator
  
  Hitoshi Kino
- Project Period (FY)
  2021 – 2023
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Review Section
  
  Basic Section 61050:Intelligent robotics-related
- Research Institution
  Chukyo University
Silent Driven Robotic Hand using Liquid-Cooled Artificial Muscle ActuatorsPrincipal Investigator
- Principal Investigator
  
  Tahara Kenji
- Project Period (FY)
  2020 – 2022
- Research Category
  
  Grant-in-Aid for Challenging Research (Exploratory)
- Review Section
  
  Medium-sized Section 61:Human informatics and related fields
- Research Institution
  Kyushu University
Soft Robotics Control Engineering by Combining Probabilistic Model-Based Control and Sensor FeedbackPrincipal Investigator
- Principal Investigator
  
  Tahara Kenji
- Project Period (FY)
  2020 – 2023
- Research Category
  
  Grant-in-Aid for Scientific Research (A)
- Review Section
  
  Medium-sized Section 61:Human informatics and related fields
- Research Institution
  Kyushu University
Development of self-sensing polymer artificial muscle and its control-oriented modeling based on physics
- Principal Investigator
  
  Takagi Kentaro
- Project Period (FY)
  2017 – 2021
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Toyohashi University of Technology
  Nagoya University
Dexterous object manipulation by combining sensory feedback and proprioceptive information(Fostering Joint International Research)Principal Investigator
- Principal Investigator
  
  Tahara Kenji
- Project Period (FY)
  2016 – 2018
- Research Category
  
  Fund for the Promotion of Joint International Research (Fostering Joint International Research)
- Research Field
  
  Intelligent robotics
- Research Institution
  Kyushu University
Motor control strategy robust to time-delay and noise of sensory information in sensorimotor integrationPrincipal Investigator
- Principal Investigator
  
  Tahara Kenji
- Project Period (FY)
  2016 – 2018
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Intelligent robotics
- Research Institution
  Kyushu University
Clarification of potential significance of endoskeleton's muscular arrangement and its appreciation for motion-generation of Robotics
- Principal Investigator
  
  Hitoshi Kino
- Project Period (FY)
  2014 – 2016
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent robotics
- Research Institution
  Fukuoka Institute of Technology
Compounding mobility by soft and hemispheric torsionall feetPrincipal Investigator
- Principal Investigator
  
  Kenji Tahara
- Project Period (FY)
  2014 – 2016
- Research Category
  
  Grant-in-Aid for Challenging Exploratory Research
- Research Field
  
  Intelligent robotics
- Research Institution
  Kyushu University
Dexterous object manipulation by combining sensory-feedback control and proprioceptive feed-forward controlPrincipal Investigator
- Principal Investigator
  
  TAHARA KENJI
- Project Period (FY)
  2013 – 2015
- Research Category
  
  Grant-in-Aid for Young Scientists (A)
- Research Field
  
  Intelligent robotics
- Research Institution
  Kyushu University
Mechanical analysis of the active tactile sensing based on the dynamics of the tactile receptors
- Principal Investigator
  
  ISHIBASHI Ryota
- Project Period (FY)
  2011 – 2013
- Research Category
  
  Grant-in-Aid for Young Scientists (B)
- Research Field
  
  Perception information processing/Intelligent robotics
- Research Institution
  Tokyo Metropolitan University
Dynamic contact modeling of a soft fingertip and realization of dynamic object grasping for a multi-fingered robotic handPrincipal Investigator
- Principal Investigator
  
  TAHARA Kenji
- Project Period (FY)
  2008 – 2010
- Research Category
  
  Grant-in-Aid for Scientific Research (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Kyushu University
Control of muscular internal force based on physiological hypotheses and its application to robotics
- Principal Investigator
  
  KINO Hitoshi
- Project Period (FY)
  2008 – 2010
- Research Category
  
  Grant-in-Aid for Scientific Research (C)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Fukuoka Institute of Technology
筋骨格冗長システムによる自然な動作の実現とロボットへの応用Principal Investigator
- Principal Investigator
  
  田原健二
- Project Period (FY)
  2006 – 2007
- Research Category
  
  Grant-in-Aid for Young Scientists (B)
- Research Field
  
  Intelligent mechanics/Mechanical systems
- Research Institution
  Kyushu University
  The Institute of Physical and Chemical Research

[Book] Soft Actuators 2nd ed.: Materials, Modeling, Applications, and Future Perspectives: Chapter 32: Modeling and Control of Fishing-Line/Sewing-Thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs)2019
- Author(s)
  K. Takagi, N. Kamamichi, K. Masuya, K. Tahara, T. Irisawa, K. Asaka
- Publisher
  Springer
- Data Source
  KAKENHI-PROJECT-17H03204
[Book] K. Asaka and H. Okuzaki (Eds.): Soft Actuators: Materials, Modeling, Applications, and Future Perspectives, 2nd Ed. Cahpter 26: Modeling and Control of Fishing-line/Sewing-thread Artificial Muscles (Twisted and Coiled Polymer Fibers, TCPFs)2019
- Author(s)
  K. Takagi, N. Kamamichi, K. Masuya, K. Tahara, T. Irisawa and K. Asaka
- Total Pages
  831
- Publisher
  Springer
- ISBN
  9789811368493
- Data Source
  KAKENHI-PROJECT-16H02882
[Book] T. Watanabe, K. Harada and M. Tada (Eds.): Human Inspired Dexterity in Robotic Manipulation, 1st Ed. 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 Opposability2018
- Author(s)
  K. Tahara and A. Kawamura
- Total Pages
  200
- Publisher
  Academic Press
- ISBN
- Data Source
  KAKENHI-PROJECT-16H02882
[Book] From Everyday Physics to Human-Like Movements (S. Kawamura and M. Svinin (Eds.)) (Advances in Robot Control)2006
- Author(s)
  K.Tahara et al.
- Total Pages
  341
- Publisher
  Springer-Verlag
- Data Source
  KAKENHI-PROJECT-18760205
[Journal Article] Tactile sensor-less fingertip contact detection and force estimation for stable grasping with an under-actuated hand2024
- Author(s)
  Ha Thang Long Doan, Hikaru Arita, and Kenji Tahara
- Journal Title
  
  ROBOMECH Journal
  
  Volume: 11 Issue: 1
- DOI
  10.1186/s40648-024-00273-3
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] 確率的表現された粘弾性パラメータを用いた柔軟指の実時間状態推定2024
- Author(s)
  本司澄空，有田輝，田原健二
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 未定
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] Antagonistic Total Torque Control of Rotational Straight Twisted Polymeric Fiber Actuator2023
- Author(s)
  吉田優太郎，林亮，舛屋賢，高木賢太郎，有田輝，田原健二
- Journal Title
  
  Journal of the Robotics Society of Japan
  
  Volume: 41 Issue: 6 Pages: 573-576
- DOI
  10.7210/jrsj.41.573
- ISSN
  0289-1824, 1884-7145
- Language
  Japanese
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] Stochastic approach for modeling soft fingers with creep behavior2023
- Author(s)
  Sumitaka Honji, Hikaru Arita, and Kenji Tahara
- Journal Title
  
  Advanced Robotics
  
  Volume: 37 Issue: 22 Pages: 1471-1484
- DOI
  10.1080/01691864.2023.2279600
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] Variable end-point viscoelasticity control for a musculoskeletal redundant arm2023
- Author(s)
  Shoki Tsuboi, Hikaru Arita, Hitoshi Kino, and Kenji Tahara
- Journal Title
  
  Advanced Robotics
  
  Volume: 37 Issue: 17 Pages: 1128-1141
- DOI
  10.1080/01691864.2023.2239880
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00610, KAKENHI-PROJECT-21H03523
[Journal Article] Basic study of sensorless path tracking control based on the musculoskeletal potential method2023
- Author(s)
  Yoshihiro Kinjo, Yuki Matsutani, Kenji Tahara, Hitoshi Kino
- Journal Title
  
  ROBOMECH Journal
  
  Volume: 10 Issue: 1
- DOI
  10.1186/s40648-023-00242-2
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles2023
- Author(s)
  Hiroaki Ochi, Koichi Komada, Kenji Tahara, and Hitoshi Kino
- Journal Title
  
  Journal of Robotics and Mechatronics
  
  Volume: 35 Issue: 3 Pages: 751-761
- DOI
  10.20965/jrm.2023.p0751
- ISSN
  0915-3942, 1883-8049
- Year and Date
  2023-06-20
- Language
  English
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20H00610, KAKENHI-PROJECT-21H03523
[Journal Article] Wire-storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber2022
- Author(s)
  Ken Masuya, Kentaro Takagi, and Kenji Tahara
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 7 Issue: 4 Pages: 11094-11101
- DOI
  10.1109/lra.2022.3197268
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] Novel Twisted and Coiled Polymer Fiber Actuator Fabricated from Polymer-coated Optical Fiber2021
- Author(s)
  Masuya Ken、Tahara Kenji
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 6 Issue: 3 Pages: 4883-4890
- DOI
  10.1109/lra.2021.3070247
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20H00610
[Journal Article] Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity2021
- Author(s)
  Hitoshi Kino, Hiroaki Ochi, Kenji Tahara
- Journal Title
  
  Journal of Robotics and Mechatronics
  
  Volume: 33 Issue: 3 Pages: 619-628
- DOI
  10.20965/jrm.2021.p0619
- NAID
  130008054305
- ISSN
  0915-3942, 1883-8049
- Year and Date
  2021-06-20
- Language
  English
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-20H00610, KAKENHI-PROJECT-21H03523
[Journal Article] Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System2021
- Author(s)
  Matsutani Yuki、Tahara Kenji、Kino Hitoshi
- Journal Title
  
  Frontiers in Robotics and AI
  
  Volume: 8 Pages: 699792-699792
- DOI
  10.3389/frobt.2021.699792
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-21K17835, KAKENHI-PROJECT-20H00610, KAKENHI-PROJECT-21H03523
[Journal Article] Modeling and characterization for straight twisted polymer fiber actuators in blocked torsion: effect of radial thermal expansion2021
- Author(s)
  Takagi Kentaro、Iwai Hiroki、Oiwa Chihaya、Irisawa Toshihira、Shioya Masatoshi、Masuya Ken、Tahara Kenji、Sakurai Daichi、Watanabe Haruhiko、Asaka Kinji
- Journal Title
  
  Smart Materials and Structures
  
  Volume: 30 Issue: 6 Pages: 065023-065023
- DOI
  10.1088/1361-665x/abfc1a
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-17H03204
[Journal Article] Mechanism for anisotropic thermal expansion of polyamide fibers2021
- Author(s)
  Kimura Daisuke、Irisawa Toshihira、Takagi Kentaro、Tahara Kenji、Sakurai Daichi、Watanabe Haruhiko、Takarada Wataru、Shioya Masatoshi
- Journal Title
  
  Sensors and Actuators B: Chemical
  
  Volume: 344 Pages: 130262-130262
- DOI
  10.1016/j.snb.2021.130262
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-17H03204, KAKENHI-PROJECT-20H00610
[Journal Article] On the fluctuation phenomenon of axial thermal stress of a torsional fishing-line artificial muscle (Twisted Polymer Fiber) actuator2020
- Author(s)
  Iwai Hiroki、Takagi Kentaro、Oiwa Chihaya、Masuya Ken、Tahara Kenji、Irisawa Toshihira、Shioya Masatoshi、Watanabe Haruhiko、Sakurai Daichi、Asaka Kinji
- Journal Title
  
  Proc. SPIE
  
  Volume: 11375 Pages: 45-45
- DOI
  10.1117/12.2557783
- Data Source
  KAKENHI-PROJECT-17H03204
[Journal Article] Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback2019
- Author(s)
  Tahara Kenji、Hayashi Ryo、Masuya Ken、Takagi Kentaro、Irisawa Toshihira、Yamauchi Takuma、Tanaka Eitaro
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 4 Issue: 3 Pages: 2447-2454
- DOI
  10.1109/lra.2019.2901982
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-17H03204
[Journal Article] 釣糸人工筋肉のモデルベースド制御に向けた巨視的モデリング2019
- Author(s)
  舛屋賢，高木賢太郎，田原健二
- Journal Title
  
  月刊ファインケミカル
  
  Volume: 48 Pages: 37-43
- Data Source
  KAKENHI-PROJECT-17H03204
[Journal Article] Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback2019
- Author(s)
  Hayashi Ryo、Masuya Ken、Takagi Kentaro、Irisawa Toshihira、Fujino Rui、Yamauchi Takuma、Tanaka Eitaro、Tahara Kenji
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 4 Issue: 3 Pages: 2561-2567
- DOI
  10.1109/lra.2019.2908484
- Peer Reviewed / Open Access
- Data Source
  KAKENHI-PROJECT-17H03204
[Journal Article] Feedforward Control of Twisted and Coiled Polymer Actuator based on a Macroscopic Nonlinear Model Focusing on Energy2018
- Author(s)
  Ken Masuya, Shu Ono, Kentaro Takagi, and Kenji Tahara
- Journal Title
  
  IEEE Robotics and Automation Letters
  
  Volume: 3 Issue: 3 Pages: 1824-1831
- DOI
  10.1109/lra.2018.2801884
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-16H02882, KAKENHI-PROJECT-17H03204
[Journal Article] Modeling framework for macroscopic dynamics of twisted and coiled polymer actuator driven by Joule heating focusing on energy and convective heat transfer2017
- Author(s)
  Ken Masuya, Shu Ono, Kentaro Takagi and Kenji Tahara
- Journal Title
  
  Sensors and Actuators, A: Physical
  
  Volume: 267 Pages: 443-454
- DOI
  10.1016/j.sna.2017.10.016
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-16H02882, KAKENHI-PROJECT-17H03204
[Journal Article] 2リンク6筋を有する筋骨格システムにおけるフィードフォワード位置決めのための筋配置条件2016
- Author(s)
  越智裕章，木野仁，田原健二，松谷祐希
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 34 Pages: 133-142
- NAID
  130005145397
- Peer Reviewed / Acknowledgement Compliant
- Data Source
  KAKENHI-PROJECT-26330303
[Journal Article] むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御2016
- Author(s)
  松谷祐希, 田原健二, 木野仁, 越智裕章, 山本元司
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 34 Pages: 143-152
- NAID
  130005145385
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-26330303
[Journal Article] Parallel system using V-Shaped shape memory alloy actuator2012
- Author(s)
  Ryota Ishibashi, Takahiko Oda, Kenji Tahara, Hitoshi Kino, Akira Kojima
- Journal Title
  
  Proceedings of SICE Annual Conference 2012
  
  Pages: 1745-1750
- Data Source
  KAKENHI-PROJECT-23700214
[Journal Article] 筋骨格システムにおけるフィードフォワード位置決め制御の収束性と筋配置の関係2012
- Author(s)
  木野仁，越智裕章，田原健二，松谷祐希，石橋良太
- Journal Title
  
  第18回ロボティクスシンポジア予稿集
  
  Volume: - Pages: 498-503
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-23700214
[Journal Article] 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御2011
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Journal Title
  
  日本ロボット学会誌
  
  Volume: 29-1 Pages: 89-98
- NAID
  10027648611
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] 柔軟3指ハンドによる仮想フレームを用いた把持物体の外界センサレス位置・姿勢制御2011
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Journal Title
  
  日本ロボット学会誌 vol.29, no.1
  
  Pages: 89-98
- NAID
  10027648611
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Reaching Movements of a Redundant Musculoskeletal Arm : Acquisition of an Adequate Internal Force by Iterative Learning and Its Evaluation through a Dynamic Damping EllipsoidReaching Movements of a Redundant Musculo-Skeletal Arm2010
- Author(s)
  Kenji Tahara, Hitoshi Kino
- Journal Title
  
  Advanced Robotics
  
  Volume: 24 Pages: 783-818
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560249
[Journal Article] Iterative learning without reinforcement or reward for multi-joint movements : A revisit of Bernstein's DOF problem on dexterity2010
- Author(s)
  S.Arimoto, M.Sekimoto, K.Tahara
- Journal Title
  
  Journal of Robotics
  
  Volume: 2010
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Reaching Movements of a Redundant Musculoskeletal Arm : Acquisition of an Adequate Internal Force by Iterative Learning and Its Evaluation through a Dynamic Damping EllipsoidReaching Movements of a Redundant Musculo-Skeletal Arm2010
- Author(s)
  K.Tahara, H.Kino
- Journal Title
  
  Advanced Robotics Vol.24 No.5-6
  
  Pages: 783-818
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560249
[Journal Article] Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact, STOP2009
- Author(s)
  S.Arimoto M.Yoshida M.Sekimoto, K.Tahara
- Journal Title
  
  J.of Control, Measurement, and System Integration vol.2
  
  Pages: 379-386
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara,
- Journal Title
  
  SICE J. of Control, Measurement, and System Integration 2
  
  Pages: 107-116
- NAID
  10031152629
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints2009
- Author(s)
  S. Arimoto, M. Yoshida, M. Sekimoto, K. Tahara
- Journal Title
  
  SICE J. of Control, Measurement, and System In tegration 2-2(in press)
- NAID
  10031152629
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Journal Title
  
  Journal of Robotics 2009
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Journal Title
  
  SICE J. of Control, Measurement, and System Integration 2
  
  Pages: 379-386
- NAID
  10031152665
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints2009
- Author(s)
  S. Arimoto, M. Yoshida, M. Sekimoto, K. Tahara
- Journal Title
  
  Journal of Robotics Article ID : 892801
  
  Pages: 16-16
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] A Riemannian-geometry approach for control of robotic systems under constraints, SICE2009
- Author(s)
  S.Arimoto M.Yoshida M.Sekimoto, K.Tahara
- Journal Title
  
  J.of Control, Measurement, and System Integration vol.2
  
  Pages: 107-116
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20360117
[Journal Article] Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-wire Driven Systems2009
- Author(s)
  H.Kino, K.Tahara, et al.
- Journal Title
  
  IEEE Trans on Robotics 25
  
  Pages: 467-474
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560249
[Journal Article] Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-wire Driven Systems2009
- Author(s)
  H.Kino, T.Yahiro, S.Taniguchi, K.Tahara
- Journal Title
  
  IEEE Trans on Robotics Vol.25, No.2
  
  Pages: 467-474
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-20560249
[Journal Article] 2本指筋骨格冗長モデルによるピンチング動作2008
- Author(s)
  田原健二, 他
- Journal Title
  
  日本ロボット学会誌 26-1
  
  Pages: 57-67
- NAID
  10020124477
- Peer Reviewed
- Data Source
  KAKENHI-PROJECT-18760205
[Journal Article] Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles2006
- Author(s)
  K.Tahara et al.
- Journal Title
  
  Proc. of 2006 IEEE International Conference on Robotics and Automation
  
  Pages: 994-999
- Data Source
  KAKENHI-PROJECT-18760205
[Journal Article] 栂指ロボットの3次元回転接触を利用した"Blind Touching"の実現2006
- Author(s)
  田原健二他
- Journal Title
  
  第7回計測自動制御学会システムインテグレーション部門講演会論文集
  
  Pages: 1158-1159
- Data Source
  KAKENHI-PROJECT-18760205
[Journal Article] 筋骨格冗長指モデルによるピンチング動作の実現2006
- Author(s)
  田原健二他
- Journal Title
  
  第24回日本ロボット学会学術講演会予稿集
- Data Source
  KAKENHI-PROJECT-18760205
[Journal Article] On control mechanism of human-like reaching movements with musculo-skeletal redundancy2006
- Author(s)
  K.Tahara et al.
- Journal Title
  
  Proc. of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems
  
  Pages: 1402-1409
- Data Source
  KAKENHI-PROJECT-18760205
[Journal Article] "仮想バネ・ダンパー仮説"に基づいた筋内力と手先粘性の関係に関する考察2006
- Author(s)
  田原健二他
- Journal Title
  
  第49回自動制御連合講演会予稿集
- NAID
  130004600061
- Data Source
  KAKENHI-PROJECT-18760205
[Patent] マニピュレータ装置及びマニピュレータの制御装置2009
- Inventor(s)
  田原健二, 郭士傑
- Industrial Property Rights Holder
  東海ゴム工業(株)
- Filing Date
  2009
- Data Source
  KAKENHI-PROJECT-20360117
[Patent] マニピュレータ装置及びマニピュレータの制御装置2009
- Inventor(s)
  田原健二,郭士傑
- Industrial Property Rights Holder
  東海ゴム工業株式会社
- Patent Publication Number
  2011-062788
- Filing Date
  2009-09-18
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Proposal of Feedforward Trajectory Control with Iterative Learning for a Musculoskeletal System2024
- Author(s)
  Kazuki Senda, Koichi Komada, Tetsuya Morizono, Yuki Matsutani, Kenji Tahara, and Hitoshi Kino
- Organizer
  IEEE 18th Int. Conf. on Advanced Motion Control
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] xternal Sensor-less Fingertip Force/Position Estimation Framework for a Linkage-based Under-actuated Hand with Self-locking Mechanism2024
- Author(s)
  Ha Thang Long Doan, Hikaru Arita, and Kenji Tahara
- Organizer
  2024 IEEE/SICE International Symposium on System Integration
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] Sensorless Angular Position Estimation of Rotational Type Twisted Polymeric Fiber Artificial Muscles2023
- Author(s)
  C. K. Wong, H. Arita, K. Masuya, S. Satoh, and K. Tahara
- Organizer
  第24回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 筋骨格システムの筋内力フィードフォワード位置制御法における繰り返し学習を用いた軌道制御2023
- Author(s)
  千田和輝，駒田洸一，松谷祐希，田原健二，木野仁
- Organizer
  日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H03523
[Presentation] Proposal of Feedforward Trajectory Control with Iterative Learning for a Musculoskeletal System2023
- Author(s)
  Kazuki Senda, Koichi Komada, Tetsuya Morizono, Yuki Matsutani, Kenji Tahara, Hitoshi Kino
- Organizer
  IEEE 18th Int. Conf. on Advanced Motion Control
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21H03523
[Presentation] 釣糸人工筋の作製時コイリング中の温度が駆動特性に及ぼす影響について2023
- Author(s)
  伊藤蒼大，岡本岳人，入澤寿平，舛屋賢，田原健二，比留田稔樹，高木賢太郎
- Organizer
  第24回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 確率的表現された粘弾性パラメータを用いた柔軟指の状態推定2023
- Author(s)
  本司澄空, 有田輝, 田原健二
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 内在筋と外在筋を模した油冷ナイロン糸人工筋肉ロボット指2023
- Author(s)
  山本修平，有田輝，田原健二
- Organizer
  ROBOMECH2023
- Data Source
  KAKENHI-PROJECT-20K21818
[Presentation] Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand2023
- Author(s)
  Ha Thang Long Doan, and Kenji Tahara
- Organizer
  2023 IEEE/SICE International Symposium on System Integration
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 内在筋と外在筋を模した油冷ナイロン糸人工筋肉ロボット指2023
- Author(s)
  山本修平, 有田輝, 田原健二
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会2023
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] External Sensor-Less in-Hand Object Position Manipulation for an Under-Actuated Hand Using Data-Driven-Based Methods to Compensate for the Nonlinearity of Self-Locking Mechanism2023
- Author(s)
  Ha Thang Long Doan, Hikaru Arita, and Kenji Tahara
- Organizer
  2023 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 筋骨格システムの筋内力フィードフォワード位置制御法における繰り返し学習を用いた軌道制御2023
- Author(s)
  千田和輝，駒田洸一，松谷祐希，田原健二，木野仁
- Organizer
  第41回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 筋骨格ロボットアームを用いた可変手先粘弾性楕円体による外力適応性の向上2022
- Author(s)
  壷井翔貴，木野仁，有田輝，田原健二
- Organizer
  第40回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-21H03523
[Presentation] End-Point stiffness and joint viscosity control of musculoskeletal robotic arm using muscle redundancy2022
- Author(s)
  S. Tsuboi, H. Kino, and K. Tahara
- Organizer
  IEEE/RSJ IROS2022
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] ナイロン糸人工筋肉で駆動する高分子ハンド2022
- Author(s)
  雉本幹哉，鈴木陽介，田原健二
- Organizer
  ROBOMECH2022
- Data Source
  KAKENHI-PROJECT-20K21818
[Presentation] 角度に応じてモーメントアームが変化する関節を有する筋骨格システム2022
- Author(s)
  松谷祐希，田原健二，木野仁
- Organizer
  計測自動制御学会システムインテグレーション部門講演会（SI2022）
- Data Source
  KAKENHI-PROJECT-21H03523
[Presentation] 腱駆動ソフトフィンガの集中定数系モデル化とパラメータ推定手法2022
- Author(s)
  本司澄空、有田輝、田原健二
- Organizer
  SI2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 共振を利用した釣糸人工筋の高速駆動について2022
- Author(s)
  伊藤蒼大，東内裕武，岡本岳人，平良龍吾，舛屋賢，田原健二，入澤寿平，高木賢太郎
- Organizer
  ROBOMECH2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] ワイヤ貯蔵型パンタグラフを用いた釣糸人工筋肉のひずみ・力増幅2022
- Author(s)
  舛屋賢, 高木賢太郎, 田原健二
- Organizer
  ROBOMECH2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 筋骨格ロボットアームを用いた可変手先粘弾性楕円体による外力適応性の向上2022
- Author(s)
  壷井翔貴, 木野仁, 有田輝, 田原健二
- Organizer
  RSJ2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 釣糸人工筋とポリウレタン外骨格を用いた手背装着型指先補助装具の開発にむけて2022
- Author(s)
  赤松駿，岡本岳人，東内裕武，舛屋賢，田原健二，入澤寿平，比留田稔樹，高木賢太郎
- Organizer
  SI2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy2022
- Author(s)
  Shoki Tsuboi, Hitoshi Kino, Kenji Tahara:
- Organizer
  Proc. IEEE/RSJ 18th Int. Conf. on Intelligent Robots and Systems (IROS2022)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-21H03523
[Presentation] 釣糸人工筋肉の作製時荷重と駆動変位量の関係について2022
- Author(s)
  岡本岳人, 東内裕武, 入澤寿平, 塩谷正俊, 舛屋賢, 田原健二, 比留田稔樹, 高木賢太郎
- Organizer
  SI2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 回転型釣糸人工筋肉アクチュエータの拮抗型合トルク制御2022
- Author(s)
  吉田優太郎, 林亮, 舛屋賢, 高木賢太郎, 有田輝, 田原健二
- Organizer
  RSJ2022
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 釣糸人工筋の収縮速度を10倍以上改善するフィードフォワード制御と温度制限について2021
- Author(s)
  安達悠河，東内裕武，舛屋賢，田原健二，入澤寿平，高木賢太郎
- Organizer
  ロボティクス・メカトロニクス講演会2021
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 釣糸人工筋肉の Coil Spring Index と作製時荷重の関係について2021
- Author(s)
  岡本岳人，東内裕武，入澤寿平，塩谷正俊，舛屋賢，田原健二，高木賢太郎
- Organizer
  第22回計測自動制御学会　システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 加熱と強制空冷の切り替えを伴う釣糸人工筋の位置制御のためのモデル化について2021
- Author(s)
  東内裕武，安達悠河，舛屋賢，田原健二，入澤寿平，高木賢太郎
- Organizer
  ロボティクス・メカトロニクス講演会2021
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 釣糸人工筋肉の Coil Spring Index と作製時荷重の関係について2021
- Author(s)
  岡本岳人，東内裕武，入澤寿平，塩谷正俊，舛屋賢，田原健二，高木賢太郎
- Organizer
  SI2021
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 筋骨格構造を持つ腱駆動冗長マニピュレータによる手先剛性制御2021
- Author(s)
  壷井翔貴、木野仁、田原健二
- Organizer
  ロボティクス・メカトロニクス講演会2021 (ROBOMECH2021)
- Data Source
  KAKENHI-PROJECT-21H03523
[Presentation] 誘電エラストマセンサを用いた釣糸人工筋の張力計測に向けて2021
- Author(s)
  Faruq Aiman，足立征士，東内裕武，田原健二，舛屋賢，入澤寿平，高木賢太郎
- Organizer
  第22回計測自動制御学会　システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 誘電エラストマセンサを用いた釣糸人工筋の張力計測に向けて2021
- Author(s)
  Faruq Aiman，足立征士，東内裕武，田原健二，舛屋賢，入澤寿平，高木賢太郎
- Organizer
  SI2021
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] コイル型釣糸人工筋（TCPF)の粘弾性の温度依存性について2020
- Author(s)
  岩井宏樹，高木賢太郎，入沢寿平，塩谷正俊，舛屋賢，田原健二
- Organizer
  第２１回計測自動制御学会　システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane2020
- Author(s)
  Ken Masuya and Kenji Tahara
- Organizer
  The 2020 IEEE Int. Conf. on Advanced Intelligent Mechatronics
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] 釣糸人工筋肉を用いた多関節ロボット指の姿勢制御2020
- Author(s)
  岩﨑政仁，田原健二
- Organizer
  第64回システム制御情報学会研究発表講演会
- Data Source
  KAKENHI-PROJECT-20K21818
[Presentation] 釣糸人工筋肉を用いた多関節ロボット指の姿勢制御2020
- Author(s)
  岩﨑政仁，田原健二
- Organizer
  第64回システム制御情報学会研究発表講演会
- Data Source
  KAKENHI-PROJECT-20H00610
[Presentation] On the fluctuation phenomenon of axial thermal stress of a torsional fishing-line artificial muscle (Twisted Polymer Fiber) actuator2020
- Author(s)
  H. Iwai, K. Takagi, C.Oiwa,K.Masuya,K.Tahara,T.Irisawa,M.Shioya,H.Watanabe,D.Sakurai,K.Asaka
- Organizer
  SPIE Smart Structures+NDE 2020
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 加熱と空冷ファンを用いた釣糸人工筋アクチュエータのPMW制御について2019
- Author(s)
  葛谷光平,高木賢太郎,谷嵜星斗,大岩千隼,田原健二,舛屋賢,入澤寿平,安積欣志
- Organizer
  ロボティクス・メカトロニクス講演会 2019
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Experimental investigation of temperature-dependent hysteresis of fishing-line artificial muscle (twisted and coiled polymer fiber) actuator2019
- Author(s)
  H. Tanizaki, K. Takagi, C. Oiwa, K. Masuya, K. Tahara, T. Irisawa, M. Shioya, K. Asaka
- Organizer
  SPIE Smart Structures/NDE 2019
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] ねじり型釣糸人工筋（TPF)が初期ねじれ回数によって収縮もしくは伸長する現象について2019
- Author(s)
  岩井宏樹,高木賢太郎,大岩千隼,入澤寿平,塩谷正俊,舛屋賢,田原健二,渡邊晴彦,櫻井大地,安積欣志
- Organizer
  第37回ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 釣糸人工筋アクチュエータの駆動時における最適荷重に関する調査2019
- Author(s)
  谷嵜星斗，高木賢太郎,田原健二.舛屋賢,入澤寿平,塩谷正俊,安積欣志
- Organizer
  日本機械学会　機械力学・計測制御部門Dynamics and Design Conference2019
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 収縮型釣糸人工筋(TCPF) のヒステリシスを除去するためのトレーニング方法の考案2019
- Author(s)
  谷嵜星斗、高木賢太郎、九州大学田原健二、舛屋賢、入澤寿平、塩谷正俊、産総研安積欣志
- Organizer
  第20回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] ナイロンフィラメントの負の線膨張係数に関する研究2019
- Author(s)
  木村大輔,木村開,小林拓未,塩谷正俊,土井健太,入澤寿平,高木賢太郎,田中栄太郎,櫻井大地,渡邊晴彦,田原健二,舛屋賢
- Organizer
  2019年度繊維学会年次大会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 高分子フィラメントの大きな負の線膨張係数に関する研究2019
- Author(s)
  木村大輔,木村開,小林拓未,舛屋賢,塩谷正俊, 長谷川貴,土井玄太,入澤寿平,高木賢太郎,櫻井大地,渡邊晴彦,田中栄太郎,田原健二
- Organizer
  プラスチック成形加工学会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 高分子繊維アクチュエータの駆動モデルの検証2019
- Author(s)
  長谷川貴,土居玄太,田邊靖博,高木賢太郎,入澤寿平,田中栄太郎,櫻井大地,渡邊晴彦,塩谷正俊,舛屋賢,田原健二
- Organizer
  2019年度繊維学会年次大会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Compact and low-noise actuator using highly twisted polymer fiber2019
- Author(s)
  J. Tanaka, H. Watanabe, K. Takagi, K. Tahara, T. Irisawa, M. Shioya and E. Tanaka
- Organizer
  第29回日本MRS年次大会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the combination of a Model-based Feed-forward and Estimated Temperature Feedback2019
- Author(s)
  R. Hayashi, K. Masuya, K. Takagi, T. Irisawa, R. Fujino, T. Yamauchi, E. Tanaka, K. Tahara
- Organizer
  2019 IEEE International Conference on Soft Robotics (RoboSoft)
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] ねじり型釣糸人工筋（TPF）のアキシャル方向の変形も考慮したモデル化に向けて2019
- Author(s)
  岩井宏樹、高木賢太郎、入澤寿平、塩谷正俊、舛屋賢、田原健二、渡邊晴彦、櫻井大地、産総研安積欣志
- Organizer
  第20回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 釣糸人工筋肉アクチュエータを用いた姿勢3自由度プラットフォームの繰返し学習による軌道追従制御2019
- Author(s)
  小野秀, 田原健二
- Organizer
  第24回ロボティクスシンポジア
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 誘電エラストマーアクチュエータの温度推定による力制御駆動アルゴリズム2018
- Author(s)
  久保田洋輝，高木賢太郎，田原健二
- Organizer
  第19回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 収縮型釣糸人工筋アクチュエータの温度・ひずみ履歴依存性について2018
- Author(s)
  谷嵜星斗，大岩千隼，舛屋賢，田原健二，入澤寿平，塩谷正俊，安積欣志，高木賢太郎
- Organizer
  ロボティクス・メカトロニクス講演会 2018
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Two-types force controllers for a prismatic actuation module redundantly driven by multiple sheet-type dielectric elastomer actuators2018
- Author(s)
  H. Kubota and K. Tahara
- Organizer
  IEEE/ASME Int. Conf. Adv. Intell. Mech.
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 釣糸人工筋肉アクチュエータを用いた姿勢3自由度パラレル構造プラットフォーム2018
- Author(s)
  小野秀, 田原健
- Organizer
  第36回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] Feedforward Control of Twisted and Coiled Polymer Actuator based on a Macroscopic Nonlinear Model Focusing on Energy2018
- Author(s)
  K. Masuya, S. Ono, K. Takagi, K. Tahara
- Organizer
  International Conference on Robotics and Automation (ICRA) 2018
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 釣糸人工筋アクチュエータの温度依存ひずみ履歴現象のモデル化に向けて2018
- Author(s)
  谷嵜星斗，高木賢太郎，大岩千隼，入澤寿平，塩谷正俊，舛屋賢，田原健二，安積欣志
- Organizer
  第19回計測自動制御学会システムインテグレーション部門講演会(SI2018)
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control2018
- Author(s)
  S. Ono, K, Masuya, K. Takagi and K. Tahara
- Organizer
  IEEE-RAS Int. Conf. Soft Robotics
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control2018
- Author(s)
  S. Ono, K. Masuya, K. Takagi, K. Tahara
- Organizer
  IEEE RAS International Conference on Soft Robotics
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Gray-box modeling and control of torsional fishing-line artificial muscle actuators2018
- Author(s)
  C. Oiwa, K. Masuya, K. Tahara, T. Irisawa, M. Shioya, T. Yamauchi, E. Tanaka, K. Asaka, K. Takagi
- Organizer
  SPIE Smart Structures/NDE 2018
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] Gray-box modeling and control of torsional fishing-line artificial muscle actuators2018
- Author(s)
  C. Oiwa, K. Masuya, K. Tahara, T. Irisawa, M. Shioya, T. Yamauchi, E. Tanaka, K. Asaka and K. Takagi
- Organizer
  SPIE Electroactive Polymer Actuators and Devices
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] ねじり型釣糸人工筋の温度・トルク変換係数の現象論的モデル化についての研究2018
- Author(s)
  大岩千隼，高木賢太郎，舛屋賢，田原健二，入澤寿平，塩谷正俊，山内拓磨，田中順也，渡邊晴彦，田中栄太郎，安積欣志
- Organizer
  第28回日本MRS年次大会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] ねじり型釣糸人工筋アクチュエータのトルク制御2017
- Author(s)
  大岩千隼, 荒川武士,舛屋賢, 田原健二, 入澤寿平, 安積欣志, 高木賢太郎
- Organizer
  ロボティクス・メカトロニクス講演会'17
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 繰り返し学習制御による釣糸アクチュエータを用いた２自由度マニピュレータの軌道追従制御2017
- Author(s)
  小野秀, 舛屋賢, 高木賢太郎, 田原健二
- Organizer
  第35回日本ロボット学術講演会
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 温度の逆ダイナミクスをHammersteinモデルで近似した釣糸人工筋肉のフィードフォワード制御2017
- Author(s)
  舛屋賢，小野秀，高木賢太郎，田原健二
- Organizer
  第35回日本ロボット学会学術講演会
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 釣糸人工筋肉の束を利用したアクチュエータユニットの開発2017
- Author(s)
  舛屋賢, 小野秀, 高木賢太郎, 田原健二
- Organizer
  ロボティクス・メカトロニクス講演会'17
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] ねじり型釣糸人工筋アクチュエータのグレーボックスモデリングについて2017
- Author(s)
  大岩千隼, 舛屋賢, 田原健二, 入澤寿平, 安積欣志, 高木賢太郎
- Organizer
  第18回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 対流熱伝達の温度・速度依存性に基づく釣糸人工筋肉の変位モデリング2017
- Author(s)
  舛屋賢, 小野秀, 高木賢太郎, 田原健二
- Organizer
  ロボティクス・メカトロニクス講演会'17
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 温度の逆ダイナミクスをHammersteinモデルで近似した釣糸人工筋肉のフィードフォワード制御2017
- Author(s)
  舛屋賢, 小野秀, 高木賢太郎, 田原健二
- Organizer
  第35回日本ロボット学術講演会
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 複数の釣糸アクチュエータを用いた２自由度マニピュレータの位置・剛性制御2017
- Author(s)
  小野秀, 舛屋賢, 高木賢太郎, 田原健二
- Organizer
  ロボティクス・メカトロニクス講演会'17
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] Position control of twisted and coiled polymer actuator using a controlled fan for cooling2017
- Author(s)
  K. Takagi, T. Arakawa, J. Takeda, K. Masuya, K. Tahara, and K. Asaka
- Organizer
  SPIE
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 釣糸アクチュエータを複数本用いた 1 自由度マニピュレータの繰り返し学習による力軌道追従制御2017
- Author(s)
  小野秀, 舛屋賢, 高木賢太郎, 田原健二
- Organizer
  第18回計測自動制御学会システムインテグレーション部門講演会
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] ねじり型釣糸人工筋アクチュエータのグレーボックスモデリング2017
- Author(s)
  大岩千隼，舛屋賢，田原健二，入澤寿平，安積欣志，高木賢太郎
- Organizer
  第18回計測自動制御学会システムインテグレーション部門講演会(SI2017)
- Data Source
  KAKENHI-PROJECT-17H03204
[Presentation] 外界センサ情報と仮想物体情報の組合せによる未知物体の把持・操作手法の実験的検証2016
- Author(s)
  大藤康平，河村晃宏，辻徳生，田原健二
- Organizer
  SI2016
- Place of Presentation
  札幌
- Year and Date
  2016-12-15
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 筋骨格システムにおける筋内力位置制御のロバスト性評価2016
- Author(s)
  佐藤正昂，田原健二，木野仁
- Organizer
  日本機械学会2016年度年次大会
- Place of Presentation
  福岡
- Year and Date
  2016-09-11
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 柔軟半球足を持つ二足歩行ロボットのバランス制御と歩容生成2016
- Author(s)
  丸林央樹，田原健二，門崎正滉
- Organizer
  日本機械学会2016年度年次大会
- Place of Presentation
  福岡
- Year and Date
  2016-09-11
- Data Source
  KAKENHI-PROJECT-26540136
[Presentation] 筋内力を利用した位置制御手法の提案と実験的検証2016
- Author(s)
  佐藤正昂，田原健二，木野仁
- Organizer
  ROBOMECH2016
- Place of Presentation
  横浜
- Year and Date
  2016-06-08
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] リンク上に可変剛性機構を有する腱駆動ロボットの剛性評価2016
- Author(s)
  松谷祐希，田原健二，木野仁，越智裕章
- Organizer
  ROBOMECH2016
- Place of Presentation
  横浜
- Year and Date
  2016-06-08
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 筋骨格アームによる筋内力のつり合いを利用した手先軌道追従制御2016
- Author(s)
  佐藤正昂，田原健二，木野仁
- Organizer
  SI2016
- Place of Presentation
  札幌
- Year and Date
  2016-12-15
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 仮想物体位置情報の更新による外力に対してロバストな把持制御手法2016
- Author(s)
  Choi Seunghyun．田原健二
- Organizer
  SI2016
- Place of Presentation
  札幌
- Year and Date
  2016-12-15
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 筋骨格システムの筋内力ポテンシャルに対する筋骨格間の干渉による筋の形状変形が及ぼす影響2016
- Author(s)
  越智裕章，木野仁，田原健二，松谷祐希
- Organizer
  SI2016
- Place of Presentation
  札幌
- Year and Date
  2016-12-15
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] 柔軟半球足を持つ二足歩行ロボットの開発2016
- Author(s)
  丸林央樹，田原健二
- Organizer
  SI2016
- Place of Presentation
  札幌
- Year and Date
  2016-12-15
- Data Source
  KAKENHI-PROJECT-26540136
[Presentation] An experimental study on effect of biarticular muscles in an antagonistically actuated robot arm2016
- Author(s)
  Tetsuya Morizono, Kenji Tahara, and Hitoshi Kino
- Organizer
  International Symposium on Artificial Life and Robotics
- Place of Presentation
  Beppu, Japan
- Year and Date
  2016-01-20
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] Variable Combination of Feed-forward and Feedback Manners for Set-Point Control of a Musculoskeletal Arm Considering the Maximum Exertable Muscular Force2016
- Author(s)
  Kenji Tahara, Yuki Matsutani, Daisuke Nakagawa, Masataka Sato, Hitoshi Kino
- Organizer
  IECON2016
- Place of Presentation
  Florence, Italy
- Year and Date
  2016-10-24
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-16H02882
[Presentation] Experimental Investigation of Contribution of Biarticular Actuation to Mappings between Sensory and Motor Spaces2015
- Author(s)
  Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
- Organizer
  Annual Conference of the IEEE Industrial Electronics Society
- Place of Presentation
  Yokohama, Japan
- Year and Date
  2015-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] ポテンシャル場における許容エネルギーに基づく柔軟指先のための把持安定性評価2015
- Author(s)
  馬場恒星, 辻徳生, 田原健二, 原田研介, 諸岡健一, 倉爪亮
- Organizer
  第20回ロボティクスシンポジア
- Place of Presentation
  軽井沢
- Year and Date
  2015-03-15
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] Grasp stability evaluation based on energy tolerance in potential field2015
- Author(s)
  T. Tsuji, K. Baba, K. Tahara, K. Harada K. Morooka and R. Kurazume
- Organizer
  IROS2015
- Place of Presentation
  Hamburg, Germany
- Year and Date
  2015-09-29
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] Determination Method of Tendon Arrangement using Genetic Algorithm for Feedforward Positioning of Musculoskeletal System2015
- Author(s)
  Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani
- Organizer
  International Symposium on Stochastic Systems Theory and Its Applications
- Place of Presentation
  Hawaii, USA
- Year and Date
  2015-12-05
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] Geometric conditions for feedforward positioning of musculoskeletal tendon-driven structure2015
- Author(s)
  Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani
- Organizer
  Annual Conference of the IEEE Industrial Electronics Society
- Place of Presentation
  Yokohama, Japan
- Year and Date
  2015-10-09
- Int'l Joint Research
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] 柔軟指先と関節変位によるポテンシャル場の許容外力エネルギーに基づく把持安定性評価2015
- Author(s)
  辻徳生, 馬場恒星, 田原健二, 原田研介, 諸岡健一, 倉爪亮
- Organizer
  RSJ2015
- Place of Presentation
  東京
- Year and Date
  2015-09-03
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] 透明シリコンとカメラを用いた柔軟指先の剪断力推定センサの開発2015
- Author(s)
  吉川裕貴, 田原健二
- Organizer
  SI2015
- Place of Presentation
  名古屋
- Year and Date
  2015-12-14
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] パーティクルフィルタによる物体の位置・姿勢推定値を用いた物体把持・操作手法2015
- Author(s)
  大藤康平，辻徳生，田原健二
- Organizer
  ROBOMECH2015
- Place of Presentation
  京都
- Year and Date
  2015-05-17
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] 触覚情報に基づく仮想物体情報を用いた物体把持・操作2014
- Author(s)
  土井佑介, 田原健二
- Organizer
  第19回ロボティクスシンポジア
- Place of Presentation
  神戸市，兵庫
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] Learning Object-Level Impedance Control for Robust Grasping and Dexterous Manipulation2014
- Author(s)
  Miao Li, Hang Yin, Kenji Tahara, Aude Billard
- Organizer
  2014 IEEE International Conference on Robotics and Automation
- Place of Presentation
  Hong Kong, China
- Data Source
  KAKENHI-PROJECT-25700028
[Presentation] V 字型SMA 拮抗駆動系の機構と制御法2013
- Author(s)
  石橋良太,小田隆彦,田原健二,木野仁,児島晃
- Organizer
  RSJ2013
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] ヤコビ行列を用いた剛性調節機構を有するSMA 駆動ロボットアーム2013
- Author(s)
  石橋良太,小田隆彦,田原健二,木野仁,児島晃
- Organizer
  SI2013
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] パラレルSMA 機構を用いた力覚提示法に関する検討2013
- Author(s)
  石橋良太,小田隆彦,田原健二,木野仁,児島晃
- Organizer
  第56回自動制御連合講演会
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] SMA を用いたヒレ機構による姿勢安定化制御2013
- Author(s)
  石橋良太,奥田竜次,小田隆彦,梅田勝也,田原健二,木野仁,児島晃
- Organizer
  第56回自動制御連合講演会
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] V字型SMA 拮抗駆動系における位置と剛性呈示2013
- Author(s)
  石橋良太,越智裕章,田原健二,木野仁
- Organizer
  SSI2013
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 形状記憶合金線における繰返し学習制御とCCD カメラを用いた位置決め精度の向上2012
- Author(s)
  木野仁, 寺原綾一, 石橋良太, 田原健二
- Organizer
  第13回計測自動制御学会SI部門大会
- Place of Presentation
  福岡
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] V 字開閉型可変剛性を利用したSMA アクチュエータの剛性制御2012
- Author(s)
  石橋良太, 小田隆彦, 田原健二, 木野仁,児島晃
- Organizer
  RSJ2012
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 形状記憶合金線を用いたパラレルワイヤ機構による剛性提示2012
- Author(s)
  石橋良太, 小田隆彦, 田原健二, 木野仁, 児島晃
- Organizer
  第13回計測自動制御学会SI部門大会
- Place of Presentation
  福岡
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 形状記憶合金線を用いた腱駆動機構における剛性調節法の検討―異方的な剛性提示に関する基礎的検討―2012
- Author(s)
  石橋良太, 小田隆彦, 田原健二, 木野仁, 児島晃
- Organizer
  第55回自動制御連合講演会
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 非プーリ型筋骨格システムにおける筋長の近似とその検証2012
- Author(s)
  木野仁, 越智裕章, 田原健二, 松谷祐希, 石橋良太
- Organizer
  第13回計測自動制御学会SI部門大会
- Place of Presentation
  福岡
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 形状記憶合金線を用いたパラレルワイヤ機構による剛性提示2012
- Author(s)
  石橋良太, 小田隆彦, 田原健二, 木野仁, 児島晃
- Organizer
  SI2012
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] V字開閉型可変剛性を利用したSMAアクチュエータの剛性制御2012
- Author(s)
  石橋良太, 小田隆彦, 田原健二, 木野仁, 児島晃
- Organizer
  第30回日本ロボット学会学術講演会
- Place of Presentation
  札幌
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 形状記憶合金線を用いた腱駆動機構における剛性調節法の検討―異方的な剛性提示に関する基礎的検討―2012
- Author(s)
  石橋良太, 小田隆彦, 田原健二, 木野仁, 児島晃
- Organizer
  第55回自動制御連合講演会
- Place of Presentation
  京都
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] V字型SMAを利用したパラレルシステムの基礎的検討2011
- Author(s)
  石橋良太，小田隆彦，田原健二，木野仁，児島晃
- Organizer
  第12回計測自動制御学会システムインテグレーション部門講演会講演論文集
- Place of Presentation
  京都
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] V 字型SMA を利用したパラレルシステムの基礎的検討2011
- Author(s)
  石橋良太,小田隆彦,田原健二,木野仁,児島晃
- Organizer
  SI2011
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 釣り合い内力を考慮したSMAアクチュエータ制御法の検討2011
- Author(s)
  石橋良太，小田隆彦，田原健二，木野仁，児島晃
- Organizer
  第29回日本ロボット学会学術講演会講演論文集
- Place of Presentation
  東京
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 釣り合い内力を考慮したSMA アクチュエータ制御法の検討2011
- Author(s)
  石橋良太,小田隆彦,田原健二,木野仁,児島晃
- Organizer
  RSJ2011
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion2010
- Author(s)
  K.Tahara, et al.
- Organizer
  IEEE Int.Conf.Robot.Automat.
- Place of Presentation
  Anchorage, AK
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion.2010
- Author(s)
  K.Tahara, K.Maruta, M.Yamamoto
- Organizer
  IEEE Int.Conf.Robot.Automat.
- Place of Presentation
  Anchorage, AK
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Iterative Learning Scheme for a Redundant Musculoskeletal Arm : Task Space Learning with Joint and Muscle Redundancies2010
- Author(s)
  田原健二
- Organizer
  1st Int.Workshop on Robot Interaction, Control, Communication and Cooperation
- Place of Presentation
  Fukuoka Institute of Technology・Fukuoka, Japan
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] 筋骨格システムの内力フィードフォワード位置制御における内力と筋配置の決定法2010
- Author(s)
  木野仁, 菊池史朗, 田原健二
- Organizer
  日本機械学会ロボティクス・メカトロニクス講演会
- Place of Presentation
  旭川大雪アリーナ(北海道)
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand2010
- Author(s)
  K.Tahara, S.Arimoto, M.Yoshida
- Organizer
  IEEE Int.Conf.Robot.Automat.
- Place of Presentation
  Anchorage, AK
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Dexterous object manipulation by a human-like hand-arm system with unified controller2010
- Author(s)
  A.Kawamura, K.Tahara, R.Kurazume, T.Hasegawa
- Organizer
  The 1st Int.Conf.Applied Bionics and Biomechanics
- Place of Presentation
  Venice, Italy
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Iterative learning control for a redundant musculoskeletal arm : Acquisition of adequate internal force2010
- Author(s)
  Kenji Tahara, Hitoshi Kino
- Organizer
  Int.Conf.Intell.Robots, Syst.(IROS'10)
- Place of Presentation
  Taipei, Taiwan.
- Year and Date
  2010-10-18
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Iterative Learning Scheme for a Redundant Musculoskeletal Arm : Task Space Learning with Joint and Muscle Redundancies2010
- Author(s)
  Kenji Tahara, Hitoshi Kino
- Organizer
  First International Workshop on Robot Interaction, Control, Communication and Cooperation (RI3C2010)
- Place of Presentation
  Fukuoka Institute of Technology Fukuoka, Japan
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Iterative learning control for a redundant musculoskeletal arm : Acquisition of adequate internal force2010
- Author(s)
  田原健二
- Organizer
  Int.Conf.Intell.Robots, System
- Place of Presentation
  Taipei, Taiwan
- Year and Date
  2010-10-18
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system2010
- Author(s)
  A.Kawamura, K.Tahara, R.Kurazume, T.Hasegawa
- Organizer
  IEEE Int.Conf.Robot.Biomim.
- Place of Presentation
  Tiangin, China
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 筋の粘性を考慮した筋骨格システムにおけるフィードフォワード位置制御2010
- Author(s)
  松谷祐希, 菊池史朗, 田原健二, 木野仁
- Organizer
  第28回日本ロボット学会学術講演会
- Place of Presentation
  名古屋工業大学(名古屋)
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Decision Method of Internal Force for Sensorless Positioning of Musculoskeletal System2010
- Author(s)
  Hitoshi Kino, Shiro Kikuchi, Kenji Tahara
- Organizer
  First International Workshop on RobotInteraction, Control, Communication and Cooperation (RI3C2010)
- Place of Presentation
  Fukuoka Institute of Technology Fukuoka, Japan
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Measurement of static constraints imposed by a human hand on a grasped objects2009
- Author(s)
  K.Matsuo, K.Murakami, T.Hasegawa, K.Tahara, R.Kurazume
- Organizer
  Proc.Int.Conf.Adv.Robot.
- Place of Presentation
  Munich, Germany
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object2009
- Author(s)
  K.Matsuo, K.Murakami, T.Hasegawa, K.Tahara, R.Kurazume
- Organizer
  Proc.IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 筋骨格システムのフィードフォワード位置制御におけるGAを用いた内力決定法2009
- Author(s)
  菊池史朗, 木野仁, 田原健二
- Organizer
  第27回日本ロボット学会学術講演会
- Place of Presentation
  横浜市,横浜国立大学
- Year and Date
  2009-09-18
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] 3本指ロボットを用いた物体把持における動的力/トルク平衡の実現2009
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Organizer
  第14回ロボティクス・シンポジア
- Place of Presentation
  登別
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands2009
- Author(s)
  A.Kawamura, K.Tahara, R.Kurazume, T.Hasegawa
- Organizer
  Proc.Int.Conf.Adv.Robot.
- Place of Presentation
  Munich, Germany
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Modeling and control for 2-D grasping of an object with arbitrary shape under rolling contact2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara, J.-H.Bae
- Organizer
  Proc.of the 9th Int.Symp. on Robot Control
- Place of Presentation
  Gifu, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 筋骨格システムにおける繰返し学習を用いた筋内力の獲得と動的手先粘性楕円体による評価2009
- Author(s)
  田原健二
- Organizer
  第27回日本ロボット学会学術講演会
- Place of Presentation
  横浜国立大学・横浜
- Year and Date
  2009-09-18
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] 筋骨格システムにおける繰返し学習を用いた筋内力の獲得と動的手先粘性楕円体による評価2009
- Author(s)
  田原健二, 木野仁
- Organizer
  第27回日本ロボット学会学術講演会
- Place of Presentation
  横浜市,横浜国立大学
- Year and Date
  2009-09-18
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system2009
- Author(s)
  K.Tahara, S.Arimoto, M.Yoshida
- Organizer
  Proc.IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Modeling and control of a pair of robot fingers with saddle joint under orderless actuations2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  Proc.IEEE Int.Conf.Robot.Automat.
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Basic Study of Biarticular Muscle's Effect on Muscular Internal Force Control Based on Physiological Hypotheses2009
- Author(s)
  H.Kino, K.Tahara, et al.
- Organizer
  International Conference on Robotics and Automation
- Place of Presentation
  International Conference Center, Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses,2009
- Author(s)
  H.Kino.S, Kikuchi, T.Yahiro, K.Tahara,
- Organizer
  Proc. IEEE Int. Conf. Robot. Automat.
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Pinching 2D object with arbitrary shape by two robot fingers under roiling constraints2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  Proc.IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] A Riemannian-geometry approach for dynamics and control of object manipulation under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Organizer
  Proc.of the 2009 IEEE Int.Conf.on Robotics and Automation
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm System2009
- Author(s)
  A.Kawamura, K.Tahara, R.Kurazume, T.Hasegawa
- Organizer
  Proc.IEEE/RSJ Int.Conf.Intell.Robots, Syst.
- Place of Presentation
  St.Louis, MO
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Modeling and control of pinching 2D object with arbitrary shape by a pair of robot fingers under rolling constraints2009
- Author(s)
  M.Yoshida, S.Arimoto, K.Tahara
- Organizer
  Proc. Multibody Dynamics, ECCOMAS Thematic Conf.
- Place of Presentation
  Warsaw, Poland
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] A Riemannian-geometry approach for dynamics and control of object manipulation under constraints2009
- Author(s)
  S.Arimoto, M.Yoshida, M.Sekimoto, K.Tahara
- Organizer
  IEEE Int.Conf.on Robot.Automat.
- Place of Presentation
  Kobe, Japan
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 栂指ロボットを用いた外界センサーレスによる接触力・位置の同時制御についての実験的検証2008
- Author(s)
  松尾純志, 田原健二, 山本元司
- Organizer
  第9回計測自動制御学会システムインテグレーション部門講演会
- Place of Presentation
  岐阜
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] ころがり接触する2次元任意形状物体の把持と操作の動的モデルの導出と制御法2008
- Author(s)
  吉田守夫, 有本卓, 田原健二
- Organizer
  第9回計測自動制御学会システムインテグレーション部門講演会
- Place of Presentation
  岐阜
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 運動生理仮説に基づく筋内力制御における二関節筋の影響第一報 : ポテンシャル場を用いた基礎的研究2008
- Author(s)
  木野仁, 菊池史朗, 八尋俊明, 田原健二
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸大学
- Year and Date
  2008-09-09
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] 筋骨格冗長アームの手先到達運動における手先粘性楕円体を用いた筋内力の評価2008
- Author(s)
  田原健二, 木野仁
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸大学
- Year and Date
  2008-09-09
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] 順序関係が無い鞍関節と柔軟な指先を有する2本指ロボットを用いた安定把持制御2008
- Author(s)
  吉田守夫, 有本卓, 田原健二
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 多指ハンドを有する双腕ロボットを用いた持ち替えによる物体の簡易姿勢制御2008
- Author(s)
  河村晃宏, 田原健二, 倉爪亮, 長谷川勉
- Organizer
  第9回計測自動制御学会システムインテグレーション部門講演会
- Place of Presentation
  岐阜
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] Dynamic object grasping by a triple-fingered robotic hand2008
- Author(s)
  K. Tahara, S. Arimoto, M. Yoshida
- Organizer
  Proc. of 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Place of Presentation
  Nice, France
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 柔軟3本指ロボットによる物体の動的把持と操作2008
- Author(s)
  田原健二, 有本卓, 吉田守夫
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸
- Data Source
  KAKENHI-PROJECT-20360117
[Presentation] 筋骨格冗長アームの手先到達運動における手先粘性楕円体を用いた筋内力の評価2008
- Author(s)
  田原健二
- Organizer
  第26回日本ロボット学会学術講演会
- Place of Presentation
  神戸大学・神戸
- Year and Date
  2008-09-09
- Data Source
  KAKENHI-PROJECT-20560249
[Presentation] On iterative learning control for simultaneous force/position trajectory tracking by using a 5 d.f.robotic thumb non-holonomic rolling constraint2007
- Author(s)
  K, Tahara, et. al.
- Organizer
  Proc. of 2007 IEEE Int. Conf. Robot. Automat.
- Place of Presentation
  Pasadna, CA
- Data Source
  KAKENHI-PROJECT-18760205
[Presentation] On contol forBlind Touchingby human-like thumb robots2007
- Author(s)
  K, Tahara, et. al.
- Organizer
  Proc. of 2007 IEEE Int. Conf. Robot. Automat.
- Place of Presentation
  Rome, Italy
- Data Source
  KAKENHI-PROJECT-18760205
[Presentation] 柔軟拇指ロボットを用いた繰返し学習による接触力・位置の同時軌道追従制御2007
- Author(s)
  田原健二, 他
- Organizer
  第25回目本ロボット学会学術講演会
- Place of Presentation
  千葉工業大学
- Data Source
  KAKENHI-PROJECT-18760205
[Presentation] 多関節多筋の筋骨格システムにおけるフィードフォワード位置決め制御の収束安定条件
- Author(s)
  越智裕章，木野仁，田原健二，松谷祐希
- Organizer
  第32回日本ロボット学術講演会
- Place of Presentation
  福岡市・九州産業大学
- Year and Date
  2014-09-04 – 2014-09-06
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] V字型SMA拮抗駆動系における位置と剛性呈示
- Author(s)
  石橋良太，越智裕章，田原健二，木野仁
- Organizer
  計測自動制御学会システム情報部門講演会
- Place of Presentation
  滋賀
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] SMAを用いたヒレ機構による姿勢安定化制御
- Author(s)
  石橋良太，奥田竜次，小田隆彦，梅田勝也，田原健二，木野仁，児島晃
- Organizer
  第56回自動制御連合講演会
- Place of Presentation
  新潟
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 形状記憶合金アクチュエータの動向
- Author(s)
  石橋良太，田原健二，木野仁
- Organizer
  第15回計測自動制御学会システムインテグレーション部門講演会
- Place of Presentation
  東京ビックサイト
- Year and Date
  2014-12-15 – 2014-12-17
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] 筋内力フィードフォワードとむだ時間を含む視覚フィードバックの可変比率による複合位制御
- Author(s)
  松谷祐希, 田原健二, 木野仁, 越智裕章, 山本元司
- Organizer
  第32回日本ロボット学術講演会
- Place of Presentation
  福岡市・九州産業大学
- Year and Date
  2014-09-05 – 2014-09-06
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] ヤコビ行列を用いた剛性調節機構を有するSMA 駆動ロボットアーム
- Author(s)
  石橋良太，小田隆彦，田原健二，木野仁，児島晃
- Organizer
  計測自動制御学会SI部門講演会
- Place of Presentation
  兵庫
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] 弾性体受動要素を用いた流速変化に適応するためのヒレ機構
- Author(s)
  石橋良太，小田隆彦，奥田竜次，梅田勝矢，田原健二，木野仁，児島晃
- Organizer
  第32回日本ロボット学術講演会
- Place of Presentation
  福岡市・九州産業大学
- Year and Date
  2014-09-04 – 2014-09-06
- Data Source
  KAKENHI-PROJECT-26330303
[Presentation] パラレルSMA機構を用いた力覚提示法に関する検討
- Author(s)
  石橋良太，小田隆彦，田原健二，木野仁，児島晃
- Organizer
  第56回自動制御連合講演会
- Place of Presentation
  新潟
- Data Source
  KAKENHI-PROJECT-23700214
[Presentation] V字型SMA拮抗駆動系の機構と制御法
- Author(s)
  石橋良太，小田隆彦，田原健二，木野仁，児島晃
- Organizer
  第31回日本ロボット学会学術講演会
- Place of Presentation
  東京
- Data Source
  KAKENHI-PROJECT-23700214

1. KINO Hitoshi (50293816)

# of Collaborated Projects: 8 results

# of Collaborated Products: 66 results
2. ISHIBASHI Ryota (20535835)

# of Collaborated Projects: 2 results

# of Collaborated Products: 24 results
3. Takagi Kentaro (60392007)

# of Collaborated Projects: 2 results

# of Collaborated Products: 41 results
4. 松谷祐希 (80757120)

# of Collaborated Projects: 2 results

# of Collaborated Products: 10 results
5. 越智裕章 (50780128)

# of Collaborated Projects: 2 results

# of Collaborated Products: 8 results
6. 入澤寿平 (30737333)

# of Collaborated Projects: 2 results

# of Collaborated Products: 33 results
7. 佐藤訓志 (60533643)

# of Collaborated Projects: 2 results

# of Collaborated Products: 1 results
8. 舛屋賢 (60796358)

# of Collaborated Projects: 2 results

# of Collaborated Products: 12 results
9. ARTMOTO Suguri (00029399)

# of Collaborated Projects: 1 results

# of Collaborated Products: 24 results
10. YOSHIDA Morio (20455372)

# of Collaborated Projects: 1 results

# of Collaborated Products: 23 results
11. NISHIDA Gou (80435669)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
12. FUJIMOTO Hideo (60024345)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
13. SHINOHARA Minoru (70241213)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
14. HASHIGUCHI Hiroe (20434558)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
15. ISAKA Tadao (30247811)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
16. KAWAMURA Sadao (20186141)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
17. IMANAKA Kuniyasu (90100891)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
18. ISHIHARA Masami (60611522)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
19. SANO Akihito (80196295)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
20. TOYAMA Shigeki (20143381)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
21. KOJIMA Akira (80234756)

# of Collaborated Projects: 1 results

# of Collaborated Products: 19 results
22. TAKESUE Naoyuki (70324803)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
23. 杉原知道 (70422409)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
24. 河村晃宏 (60706555)

# of Collaborated Projects: 1 results

# of Collaborated Products: 2 results
25. 井上剛志 (70273258)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
26. 安積欣志 (10184136)

# of Collaborated Projects: 1 results

# of Collaborated Products: 15 results
27. 鈴木陽介 (20582331)

# of Collaborated Projects: 1 results

# of Collaborated Products: 1 results
28. 槇田諭 (60580868)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
29. 石原彰人 (80387620)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
30. 津守不二夫 (10343237)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
31. 山口哲生 (20466783)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
32. 有田輝 (60843993)

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
33. TANIGUCHI Syouhei

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
34. KADOSAKI Masahiro

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results
35. MARUBAYASHI Hiroki

# of Collaborated Projects: 1 results

# of Collaborated Products: 2 results
36. Kao Imin

# of Collaborated Projects: 1 results

# of Collaborated Products: 0 results

Tahara Kenji 田原 健二

TAHARA Kenji 田原 健二

Research Projects

Research Products

Co-Researchers

Design and Control Theory of Soft Robotics with Integrated Soft-Rigid Structures for Achieving Desired MotionsPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Super multi-musculoskeletal soft robotics that combines musculoskeletal potential method and soft actuator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Silent Driven Robotic Hand using Liquid-Cooled Artificial Muscle ActuatorsPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Soft Robotics Control Engineering by Combining Probabilistic Model-Based Control and Sensor FeedbackPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Review Section

Research Institution

Development of self-sensing polymer artificial muscle and its control-oriented modeling based on physics

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Dexterous object manipulation by combining sensory feedback and proprioceptive information(Fostering Joint International Research)Principal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Motor control strategy robust to time-delay and noise of sensory information in sensorimotor integrationPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Clarification of potential significance of endoskeleton's muscular arrangement and its appreciation for motion-generation of Robotics

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Compounding mobility by soft and hemispheric torsionall feetPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Dexterous object manipulation by combining sensory-feedback control and proprioceptive feed-forward controlPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Mechanical analysis of the active tactile sensing based on the dynamics of the tactile receptors

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Dynamic contact modeling of a soft fingertip and realization of dynamic object grasping for a multi-fingered robotic handPrincipal Investigator

Principal Investigator

Project Period (FY)

Research Category

Research Field

Research Institution

Control of muscular internal force based on physiological hypotheses and its application to robotics

Principal Investigator

Project Period (FY)

Tahara Kenji 田原健二

TAHARA Kenji 田原健二