International Conference

Bigram-based natural language model and statistical motion symbol model for scalable language of humanoid robots. W. Takano, Y. Nakamura. International Conference of Robotics and Automation, pp.1232-1237, 2012 [Link]

Muscle activity estimation based on inverse dynamics and muscle stress analysis by finite element method. K. Hirasawa, K. Ayusawa, Y. Nakamura. 19th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, ID:45(now printing), 2012 [Link]

Balancing anatomy and function in a musculoskeletal model of hands. B. Aaron, Y. Ikegami, K. Ayusawa, Y. Nakamura. 2012 IEEE International Conference on Robotics and Automation, 5130-5135, 2012 [Link]

Regularity properties and deformation of wheeled robots trajectories. Q.-C. Pham, Y. Nakamura. ICRA 2012, 2012 [Link]

On using methods from robotics to study human task-dependent balance during whole-body pointing and drawing movements. M. Sreenivasa, P. Soueres, Y. Nakamura. IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2012 [Link]

Affine trajectory deformation for redundant manipulators. Q.-C. Pham, Y. Nakamura. Robotics: Science and Systems, 2012 [Link]

Domestic Conference

Development and control of electro-hydrostatic actuator with viscous screw pump for low viscosity fluid. H. Kaminaga, H. Tanaka, K. Yasuda, Y. Nakamura. Robotics Symposia, accepted, 2012 [Link]

Construction of symbolic system between motion and language with large language resources. S. Hamano, W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2012, 2A1-Q02, 2012 [Link]

Unspervised genearation of binary-tree and supervised learning of linear classification for realtime statistical recognition of human behaviors. K. Umezawa, W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2012, 2A1-Q03, 2012 [Link]

Design of a large-scale motion database which enables recovery of 3d motion from 2d images. W. Takano, J. Ishikawa, Y. Nakamura. JSME Robotics and Mechatronics Conference 2012, 2A1-Q04, 2012 [Link]

Formation of concepts that represent context of motions and words based on stochastic generative model. , W. Takano, Y. Nakamura. Robotics Symposia, 2012 [Link]

Simultaneous geometric parameters identication and inverse kinematics of time series motion by fast optimization using decomposed gradient computation . K. Ayusawa, Y. Ikegami, Y. Nakamura. 2012 JSME Conference on Robotics and Mechatronics , 2P1-O10, 2012 [Link]

Estimation of the joint position using optical motion capture and generation of the indivisual skeletal model . K. Kubota, K. Ayusawa, Y. Nakamura. 2012 JSME Conference on Robotics and Mechatronics , 2A2-E04, 2012 [Link]

Inverse dynamic estimation of muscle activities based on finite-element-analysis with parallelized equilibrium equation for each muscle . K. Hirasawa, K. Ayusawa, Y. Nakamura. 2012 JSME Conference on Robotics and Mechatronics , 2A2-E05, 2012 [Link]

Inverse kinematics of human motion using image moments from single viewpoint image . Y. Nakagawa, K. Ayusawa, Y. Nakamura. 2012 JSME Conference on Robotics and Mechatronics , 2P1-O09, 2012 [Link]

Dentification of subject-specific geometric and inertial parameters for human musculoskeletal model . Y. Ikegami, K. Ayusawa, Y. Nakamura. 2012 JSME Conference on Robotics and Mechatronics , 2P1-O11, 2012 [Link]

Optimal control in the manipulation of complex objects: human yo-yo playing. M. Sreenivasa, K. Mombaur, P. Soueres, Y. Ikegami, Y. Nakamura. Brain Mind Conference, Hokkaido , 2012 [Link]

Fast inverse kinematics algorithm for large dof system with decomposed computation of gradient and its application to musculoskeletal model. K. Ayusawa, Y. Nakamura. The 17th Robotics Symposia, pp. 148-155, 2012 [Link]

A neuromuscular locomotion controller adapted to foot contact conditions. A. Murai, Y. Nakamura. 6th Motor Control Workshop, 2012 [Link]

Bipedal walking generator with reactive stepping based on minimal energy control in the com state space . C. Santacruz, Y. Nakamura. JSME Robotics and Mechatronics Conference (ROBOMECH), 2A1-T03, 2012 [Link]

International Conference

Screw pump for electro-hydrostatic actuator that enhances backdrivability. H. Kaminaga, H. Tanaka, K. Yasuda, Y. Nakamura. Humanoids 2011, pp. 434-439, 2011 {backdrivability}[Link]

Measurement crosstalk elimination of torque encoder using selectively compliant suspension. H. Kaminaga, K. Odanaka, T. Kawakami, Y. Nakamura. ICRA 2011, pp. 4774-4779, 2011 [Link]

Mechanism and control of knee power augmenting device with backdrivable electro-hydrostatic actuator. H. Kaminaga, H. Tanaka, Y. Nakamura. IFToMM 2011, 2011 {backdrivability, actuator, knee}[Link]

An exoskeletal hydrostatic power-assisting mechanism and its pressure feedback control based on singular perturbation method. H. Tanaka, H. Kaminaga, Y. Nakamura. IFToMM 2011, 2011 {backdrivability, exo-skeleton}[Link]

So(2) and so(3), omni-directional personal mobility with link-driven spherical wheels. S. Ok, A. Kodama, Y. Matsumura, Y. Nakamura. IROS 2011, pp. 268-273, 2011 {spherical-wheel}[Link]

Prediction of human behaviors in the future through symbolic inference. W. Takano, H. Imagawa, Y. Nakamura. ICRA 2011, pp. 1970-1975, 2011 {HMM, human-motion}[Link]

Motion data retrieval based on statistic correlation between motion symbol space and language. S. Hamano, W. Takano, Y. Nakamura. IROS 2011, 2011 {HMM, human-motion}[Link]

Motion data retrieval based on statistic correlation between motion symbol space and language. , W. Takano, Y. Nakamura. IROS 2011, pp. 3401-3406, 2011 {HMM}[Link]

Towards fine-grained phenotypic analyses of motor functions: the inverse kinematics of mouse gait patterns. S. Oota, Y. Ikegami, K. Ayusawa, K. Mekada, N, Kakusho, , H. Hishida, H. Suzuki, Y. Obata, H. Yokoda, R. Himeno, Y. Nakamura, A. Yoshiki. 25th IMGC, Mouse Genetics 2011, 2011 {inverse-kinematics}[Link]

Walking motion of humanoid robots: connection of orbital energy trajectorias via minimal energy control. C. Santacruz, Y. Nakamura. Humanoids 2011, pp. 695-700, 2011 {humanoid}[Link]

Real-time implementation of physically consistent identification of human body segments. K. Ayusawa, G. Venture, Y. Nakamura. ICRA 2011, pp. 6282-6287, 2011 {identification}[Link]

Inverse kinematics based on high-order moments of feature points and their jacobian matrices. K. Ayusawa, Y. Nakamura. ICRA 2011, pp. 3530-3535, 2011 {inverse-kinematics}[Link]

Scaling kinematic chains in the air - identification of floating systems using dynamics constraint of the baselink without force measurement -. K. Ayusawa, G. Venture, Y. Nakamura. IFToMM 2011, 2011 {identification}[Link]

Motion generation for biped robots based on minimal energy control. C. Santacruz, Y. Nakamura. IFToMM 2011, 2011 {humanoid}[Link]

Fast inverse dynamics algorithm with decomposed computation of gradient for wire-driven multi-body systems and its application to estimation of human muscle tensions. K. Ayusawa, Y. Nakamura. IFToMM2011, 11, 2011 {inverse-dynamic}[Link]

Muscle strength and mass distribution identification toward subject-specific musculoskeletal modeling. M. Hayashibe, G. Venture, K. Ayusawa, Y. Nakamura. IROS 2011, pp. 3701-3707, 2011 {identification, musculo-skeletal}[Link]

Fast trajectory correction for nonholonomic mobile robots using affine transformations. Q.-C. Pham. Robotics: Science and Systems, 2011 {planning}[Link]

Musculoskeletal morphing from human to mouse. Y. Nakamura, Y. Ikegami, A. Yoshimatsu, K. Ayusawa, H. Imagawa, S. Oota. The IUTAM Symposium on Human Body Dynamics, 2011 {musculo-skeletal, human-motion}[Link]

Domestic Journal

Development of hydrostatic knee power assist device and its control with sensitivity maximization. H. Kaminaga, H. Tanaka, T. Amari, Y, Niwa, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 29, no. 7, pp. 609-618, 2011 [Link]

Crystal ball: prediction of human behaviors in the future through symbolic inference. W. Takano, H. Imagawa, D. Kulic, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 29, no. 8, 2011 {HMM, human-motion}[Link]

Domestic Conference

Development of omni-directional personal mobility with link-driven spherical wheels. A. Kodama, S. Ok, Y. Matsumura, Y. Nakamura. JSME Conference on Robotics and Mechatronics, 2011 {spherical-wheel}[Link]

Sensors feedback control of electro-hydrostatic actuator power assist device based on phases of human gait using emg signal and velocity positive feedback. P. Hoang Phuong, H. Kaminaga, H. Tanaka, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {exo-skeletal, backdrivability}[Link]

Development and dynamic assessment of closstalk reducer for high precision linear encoder. K. Odanaka, H. Kaminaga, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {encoder}[Link]

Power assist control of exoskeletal hydrostatic robot based on singular perturbation control using pressure feedback. H. Tanaka, H. Kaminaga, P. Hoang Phuong, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {exo-skeletal, backdrivability}[Link]

Power augmenting control of knee power assist device using sensitivity maximization with supplemental usage of surface emg signal. H. Kaminaga, P. Hoang Phuong, H. Tanaka, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {exo-skeletal, actuator, knee, backdrivability}[Link]

Standing control of personal mobility with a spherical wheel composed of serial kinematic chain. S. Ok, Y. Nakamura. Robotics Symposia, pp. 628-633, 2011 {spherical-wheel}[Link]

Low-impedance control and improvement of sensitive function of exoskeletal hydrostatic robot. H. Tanaka, H. Kaminaga, Y. Nakamura. Robotics Symposia, pp. 105-110, 2011 {exo-skeletal}[Link]

Development of joint mechanism with torque encoder using high accuracy linear encoder -crosstalk elimination using anisotropic elasticity of encoder fixture-. K. Odanaka, H. Kaminaga, Y. Nakamura. Robotics Symposia, pp. 481-486, 2011 {encoder}[Link]

Stochastic synthesis of motion symbols and language that enables linguistic interpretation and generation of behavior for humanoid robot. W. Takano, Y. Nakamura. Joint Agent Workshop and Symposium 2011, 2011 {HMM}[Link]

Imitation-learning humanoid robot to find spatial-temporal constraints in interaction motion (in japanese). Y. Itoh, W. Takano, C. Santacruz, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {humanoid}[Link]

Motion data retrieval based on statistic correlation between motion symbols space and language. , W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {HMM}[Link]

A humanoid robot passes through the crowd based on their behavioral estimation. T. Joudan, W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2A1-D5, 2011 [Link]

Construction of statistical network to connect motion symbols and object symbols to language. K. Tomaru, , W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {HMM}[Link]

Trajectory correction algorithms for a 3d underwater vehicle using affine transformations. Q.-C. Pham, Y. Nakamura. Conference of the Robotics Society of Japan, 2011 {planning}[Link]

Fast estimation of muscle tensions by gradient computation based on inverse dynamics and differential forward kinematics. K. Ayusawa, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {inverse-dynamics, musculo-skeletal}[Link]

Estimation of the scapula position based on musculoskeletal model and sliding movement of the scapula. , K. Ayusawa, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {musculo-skeletal}[Link]

Kinect magic mirror - muscle tension estimation based on markerless motion capture. T. Kashiwagi, K. Ayusawa, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {musculo-skeletal}[Link]

Estimation of muscle tension using muscle activity database and statistical motion recognition. Y. Nakamura, W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 {musculo-skeletal}[Link]

An analysis of the motion in a side horse exercise. M. Nawa, K, Nishiwaki, Y. Nakamura, Y. Ikegami, K. Ayusawa, K. Goto, D, Goto. JSME Symposium: Sports and Human Dynamics 2011, 2011 [Link]

Walking motion generation of humanoid robots via minimal energy control and symmetry condition. C. Santacruz, Y. Nakamura. Robotics Symposia, pp. 243-248, 2011 {humanoid}[Link]

Design of the motion database from integration of motion symbols and natural language. W. Takano, K. Tomaru, Y. Nakamura. The 25th Annual Conference of the Japanese Society for Artificail Intelligence, 2011 {HMM}[Link]

Fine-grained phenotypic analyses of motor functions for laboratory mice : the inverse kinematics of mouse gait patterns. S. Oota, Y. Ikegami, K. Ayusawa, N. Kakusho, , H. Hishida, H. Suzuki, Y. Obata, R. Himeno, Y. Nakamura, A. Yoshiki. The 34th Annual Meeting of the Japan Neuroscience Society, vol. 71, sup. 1, pp. 244, 2011 {inverse-kinematics}[Link]

Musculoskeletal morphing from human to mouse and muscle tension analysis. Y. Ikegami, A. Yoshimatsu, K. Ayusawa, S. Oota, Y. Nakamura. The 49th Annual Meeting of the Biophysical Society of Japan, 2011 {musculo-skeletal}[Link]

Development of the dynamic calibration method of 6-axis force plate. K. Hiromatsu, K. Ayusawa, H. Kaminaga, Y. Nakamura. The 12th Conference of the System Integration Division of the Society of Instrument and Control Engineers, 2011 [Link]

Recovery of 3 dimensional motion from 2 dimensional images by using human behavior database. , W. Takano, Y. Nakamura. 17th Symposium of Theory of Mechines and Mechanisms, pp. 5-8, 2011 [Link]

3d motion reconstruction from monocular images based on statistical inference using motion pattern database. J. Ishikawa, W. Takano, Y. Nakamura. JSME Robotics and Mechatronics Conference 2011, 2011 [Link]

International Journal

Musculoskeletal-see-through mirror: computational modeling and algorithm for whole-body muscle activity visualization in real time. A. Murai, K. Kurosaki, K. Yamane, Y. Nakamura. Progress in Biophysics and Molecular Biology, vol. 103, pp. 310-317, 2010 {musculo-skeletal, human-motion}[Link]

International Conference

Torque sensitive manipulator with high-rigidity torque encoder. H. Kaminaga, T. Kawakami, K. Ayusawa, Y. Nakamura. IFToMM Asian Conference on Mechanism and Machine Science, 2010 [Link]

Electro-hydrostatic actuators with series dissipative property and their application to power assist devices. H. Kaminaga, T. Amari, Y. Niwa, Y. Nakamura. BioRob 2010, pp. 76-81, 2010 [Link]

High-fidelity joint drive system by torque feedback control using high precision linear encoder. T. Kawakami, K. Ayusawa, H. Kaminaga, Y. Nakamura. ICRA 2010, pp. 3904-3909, 2010 [Link]

Backdrivability analysis of electro-hydrostatic actuator and series dissipative actuation model. H. Kaminaga, T. Amari, Y. Katayama, J. Ono, Y. Shimoyama, Y. Nakamura. ICRA 2010, pp. 4204-4211, 2010 [Link]

Development of knee power assist using backdrivable electro-hydrostatic actuator. H. Kaminaga, T. Amari, Y. Niwa, Y. Nakamura. IROS 2010, pp. 5517-5524, 2010 [Link]

Organization of behavioral knowledge from extraction of temporal-spatial features of human whole body motions. W. Takano, H. Imagawa, D. Kulic, Y. Nakamura. BioRob 2010, pp. 52-57, 2010 [Link]

Associative processes between behavioral symbols and a large scale language model. W. Takano, Y. Nakamura. ICRA 2010, pp. 2404-2409, 2010 [Link]

Motion-language association model for human-robot communication. W. Takano, M. Kanazawa, Y. Nakamura. International Symposium on Experimental Robotics, 2010 [Link]

What do you expect from a robot that tells your future? the crystal ball. W. Takano, H. Imagawa, D. Kulic, Y. Nakamura. IROS 2010, pp. 1780-1785, 2010 [Link]

Identification of flying humanoids and humans. K. Ayusawa, G. Venture, Y. Nakamura. ICRA 2010, pp. 3715-3720, 2010 [Link]

Identification of standard inertial parameters for large-dof robots considering physical consistency. K. Ayusawa, Y. Nakamura. IROS 2010, pp. 6194-6201, 2010 [Link]

Identification of base parameters for large-scale kinematic chains based on physical consistency approximation by polyhedral convex cones. K. Ayusawa, Y. Nakamura. RoManSy 2010, pp. 91-98, 2010 [Link]

Domestic Journal

Theory of communication between human and humanoid robot based on embodied symbol model. W. Takano, K. Yamane, T. Sugihara, K. Yamamoto, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 28. no. 6, pp. 735-745, 2010 [Link]

Retrieval and generation of human motions based on associative model between motion symbols and motion labels. W. Takano, K. Yamane, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 28. no. 6, pp. 723-734, 2010 [Link]

Identification of free flying systems using unactuated base-link dynamics -- identification of flying humanoids and humans without force measurement. K. Ayusawa, G. Venture, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 28, no.8, pp. 1004-1013, 2010 [Link]

International Journal

On-line segmentation and clustering from continuous observation of whole body motions. D. Kulic, W. Takano, Y. Nakamura. IEEE Transactions on Robotics, vol. 25, no. 5, pp. 1158-1166, 2009 [Link]

International Conference

Anthropomorphic robot hand with hydrostatic cluster actuator and detachable passive wire mechanism. H. Kaminaga, J. Ono, Y. Shimoyama, T. Amari, Y. Katayama, Y. Nakamura. Humanoids 2009, pp. 1-6, 2009 {backdrivability, hydraulic}[Link]

Development of backdrivable hydraulic knee joint mechanism for humanoid robots. H. Kaminaga, J. Ono, Y. Nakashima, Y. Nakamura. ICRA 2009, pp. 1577-1582, 2009 {backdrivability, hydraulic}[Link]

Whole body motion primitive segmentation from monocular video. D. Kulic, D. Lee, Y. Nakamura. ICRA 2009, pp. 3166 -3172, 2009 [Link]

Mimetic communication with impedance control for physical human-robot interaction. D. Lee, C. Ott, Y. Nakamura. ICRA 2009, pp. 1535 -1542, 2009 [Link]

Statistically integrated semiotics that enables mutual inference between linguistic and behavioral symbols for humanoid robots. W. Takano, Y. Nakamura. ICRA 2009, pp. 646 -652, 2009 [Link]

Incremental learning of integrated semiotics based on linguistic and behavioral symbols. W. Takano, Y. Nakamura. IROS 2009, pp. 2545 -2550, 2009 [Link]

Associating and reshaping of whole body motions for object manipulation. H. Kunori, D. Lee, Y. Nakamura. IROS 2009, pp. 5240 -5247, 2009 [Link]

Computationally fast estimation of muscle tension for realtime bio-feedback. A. Murai, K. Kurosaki, K. Yamane, Y. Nakamura. EMBC 2009, pp. 6546 -6549, 2009 [Link]

Monitoring the segment parameters during long term physical training from motion capture data. G. Venture, K. Ayusawa, D. Kulic, Y. Nakamura. EMBC 2009, pp. 5247 -5250, 2009 [Link]

Real-time identification and visualization of human segment parameters. G. Venture, K. Ayusawa, Y. Nakamura. EMBC 2009, pp. 3983 -3986, 2009 [Link]

Switching feedback controllers based on the maximal cpi sets for stabilization of humanoid robots. K. Yamamoto, Y. Nakamura. Humanoids 2009, pp. 549 -554, 2009 [Link]

A numerical method for choosing motions with optimal excitation properties for identification of biped dynamics - an application to human. G. Venture, K. Ayusawa, Y. Nakamura. ICRA 2009, pp. 1226 -1231, 2009 [Link]

Realtime identification software for human whole-body segment parameters using motion capture and its visualization interface. G. Venture, K. Ayusawa, Y. Nakamura. IEEE International Conference on Rehabilitation Robotics 2009, pp. 109 -114, 2009 [Link]

Identification of human mass properties from motion. G. Venture, K. Ayusawa, Y. Nakamura. IFAC Symposium on System Identification, 2009 [Link]

Symbolic proof of inertia-parameter identifiability of legged mechanisms from unactuated base-link dynamics. K. Ayusawa, G. Venture, Y. Nakamura. IFAC Symposium on Systems Identification, pp. 693-698, 2009 [Link]

Optimal estimation of human body segments dynamics using realtime visual feedback. G. Venture, K. Ayusawa, Y. Nakamura. IROS 2009, pp. 1627 -1632, 2009 [Link]

Domestic Journal

Minimal-set of inertial parameters identification of legged robots using base-link dynamics. K. Ayusawa, G. Venture, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 27, no. 9, pp. 1066-1077, 2009 {identification}[Link]

Domestic Conference

Mimetic communication for physical human-robot interaction - part ii: interaction learning. D. Lee, C. Ott, Y. Nakamura. Robotics Symposia, pp.132-139, 2009 {human-robot-interaction}[Link]

International Journal

Incremental learning, clustering and hierarchy formation of whole body motion patterns using adaptive hidden markov chains. D. Kulic, W. Takano, Y. Nakamura. International Journal of Robotics Research, vol. 24, no. 2, pp. 416-429, 2008 {HMM, human-motion}[Link]

Incremental learning, clustering and hierarchy formation of whole body motion patterns using adaptive hidden markov chains. D. Kulic, W. Takano, Y. Nakamura. The International Journal of Robotics Research, vol. 27, no. 7, pp. 761, 2008 [Link]

On the passivity-based impedance control of flexible joint robots. A. Kugi, C. Ott, A. Albu-Schaffer, G. Hirzinger. IEEE Transactions on Robotics, vol. 24, no. 2, pp. 416 -429, 2008 [Link]

Soft robotics. A. Albu-Schaffer, O. Eiberger, M. Grebenstein, S. Haddadin, C. Ott, T. Wimbock, S. Wolf, G. Hirzinger. IEEE Robotics and Automation Magazine, vol. 15, no. 3, pp. 20 -30, 2008 [Link]

International Conference

Incremental learning of full body motion primitives for humanoid robots. D. Kulic, D. Lee, C. Ott, Y. Nakamura. Humanoids 2008, pp. 326 -332, 2008 [Link]

Integrating whole body motion primitives and natural language for humanoid robots. W. Takano, Y. Nakamura. Humanoids 2008, pp. 708 -713, 2008 [Link]

Combining automated on-line segmentation and incremental clustering for whole body motions. D. Kulic, W. Takano, Y. Nakamura. ICRA 2008, pp. 2591 -2598, 2008 [Link]

Incremental learning and memory consolidation of whole body motion patterns. D. Kulic, Y. Nakamura. International Conference on Epigenetic Robotics, pp. 61--68, 2008 [Link]

Scaffolding on-line segmentation of full body human motion patterns. Kulic, D., Nakamura, Y.. IROS 2008, pp. 2860 -2866, 2008 [Link]

Association of whole body motion from tool knowledge for humanoid robots. D. Lee, H. Kunori, Y. Nakamura. IROS 2008, pp. 2867 -2874, 2008 [Link]

Recognition of human driving behaviors based on stochastic symbolization of time series signal. W. Takano, A. Matsushita, K. Iwao, Y. Nakamura. IROS 2008, pp. 167 -172, 2008 [Link]

Whole motion recovery from partial observation data using factorial hidden markov models. D. Lee, D. Kulic, Y. Nakamura. JSME Conference on Robotics and Mechatronics, vol. , no. , pp. 1P1-G20, 2008 [Link]

Formation of topological linguistic space based on stochastic reference between motion symbols and words. W. Takano, D. Kulic, Y. Nakamura. JSME Conference on Robotics and Mechatronics, pp. 2A1-E19, 2008 [Link]

Symbolic memory of motion patterns by an associative memory dynamics with self-organizing nonmonotonicity. H. Kadone, Y. Nakamura. Neural Information Processing, pp. 203--213, 2008 [Link]

Human and humanoid identification based on unactuated dynamics. G. Venture, K. Ayusawa, Y. Nakamura. BioRob 2008, pp. 445-450, 2008 [Link]

Modeling and identification of human neuromusculoskeletal network based on biomechanical property of muscle. A. Murai, K. Yamane, Y. Nakamura. EMBC 2008, pp. 3706 -3709, 2008 [Link]

Motion capture based identification of the human body inertial parameters. G. Venture, K. Ayusawa, Y. Nakamura. EMBC 2008, pp. 4575 -4578, 2008 [Link]

Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link. K. Ayusawa, G. Venture, Y. Nakamura. Humanoids 2008, pp. 1 -7, 2008 [Link]

Motion capture based human motion recognition and imitation by direct marker control. C. Ott, D. Lee, Y. Nakamura. Humanoids 2008, pp. 399 -405, 2008 [Link]

Resolving the problem of non-integrability of nullspace velocities for compliance control of redundant manipulators by using semi-definite lyapunov functions. C. Ott, A. Kugi, Y. Nakamura. ICRA 2008, pp. 1999 -2004, 2008 [Link]

Employing wave variables for coordinated control of robots with distributed control architecture. C. Ott, Y. Nakamura. ICRA 2008, pp. 575 -582, 2008 [Link]

Analysis and experimental evaluation of the intrinsically passive controller (ipc) for multifingered hands. T. Wimbock, C. Ott, G. Hirzinger. ICRA 2008, pp. 278 -284, 2008 [Link]

Missing motion data recovery using factorial hidden markov models. D. Lee, D. Kulic, Y. Nakamura. ICRA 2008, pp. 1722 -1728, 2008 [Link]

Acquiring a human somatic reflex model using a neuromusculoskeletal system. A. Murai, K. Yamane, Y. Nakamura. International Conference on the Simulation of Adaptive Behaviour, 2008 [Link]

A neuromusculoskeletal network model for analyzing and simulating adaptive movements. A. Murai, K. Yamane, Y. Nakamura. International Symposium on Adaptive Motion of Animals and Machines, 2008 [Link]

Impedance control for variable stiffness mechanisms with nonlinear joint coupling. T. Wimbock, C. Ott, A. Albu-Schaffer, A. Kugi, G. Hirzinger. IROS 2008, pp. 3796 -3803, 2008 [Link]

Identification of humanoid robots dynamics using floating-base motion dynamics. K. Ayusawa, G. Venture, Y. Nakamura. IROS 2008, pp. 2854 -2859, 2008 [Link]

Dynamics identification of humanoid systems. G. Venture, K. Ayusawa, Y. Nakamura. RoManSy 2008, pp. 301--308, 2008 [Link]

Gait planning including toe contact with boundary condition relaxation. K. Yamamoto, T. Sugihara, Y. Nakamura. RoManSy 2008, pp. 409--416, 2008 [Link]

Dynamics simulation of humanoid robots: forward dynamics, contact, and experiments. K. Yamane, Y. Nakamura. RoManSy 2008, 2008 [Link]

In vivo microscope image stabilization through 3-d motion compensation using a contact-type sensor. S. Lee, T. Ozaki, Y. Nakamura. IROS 2008, pp. 1192 -1197, 2008 [Link]

Domestic Journal

Kartesische nachgiebigkeitsregelung fur robotersysteme mit verteilter steuerungsarchitektur. C. Ott, Y. Nakamura. VDIBERICHT, vol. 2012, pp. 45, 2008 [Link]

International Journal

Hardware design of high performance miniature anthropomorphic robots. T. Sugihara. Robotics and Autonomous System, vol. 56, no. , pp. 82-94, 2007 [Link]

International Conference

Backdrivable miniature hydrostatic transmission for actuation of anthropomorphic robot hands. H. Kaminaga, T. Yamamoto, J. Ono, Y. Nakamura. Humanoids 2007, pp. 36 -41, 2007 [Link]

Toe joint mechanism using parallel four-bar linkage enabling humanlike multiple support at toe pad and toe tip. K. Yamamoto, T. Sugihara, Y. Nakamura. Humanoids 2007, pp. 410 -415, 2007 [Link]

Mimesis scheme using a monocular vision system on a humanoid robot. D. Lee, Y. Nakamura. ICRA 2007, pp. 2162 -2168, 2007 [Link]

Capture database through symbolization, recognition and generation of motion patterns. W. Takano, K. Yamane, Y. Nakamura. ICRA 2007, pp. 3092 -3097, 2007 [Link]

Mimesis scheme using a monocular vision system on a humanoid. D. Lee, Y. Nakamura. IEEE International Conference on Robotics and Automation, 2007 [Link]

Incremental on-line hierarchical clustering of whole body motion patterns. D. Kulic, W. Takano, Y. Nakamura. IEEE International Symposium on Robot and Human interactive Communication, pp. 1016 -1021, 2007 [Link]

Incremental learning of full body motions via adaptive factorial hidden markov models. D. Kulic, W. Takano, Y. Nakamura. International Conference on Epigenetic Robotics, pp. 69--76, 2007 [Link]

Towards lifelong learning and organization of whole body motion patterns. , W. Takano, Y. Nakamura. International Symposium of Robotics Research, pp. 87-97, 2007 [Link]

Representability of human motions by factorial hidden markov models. D. Kulic, W. Takano, Y. Nakamura. IROS 2007, pp. 2388 -2393, 2007 [Link]

Interactive topology formation of linguistic space and motion space. W. Takano, D. Kulic, Y. Nakamura. IROS 2007, pp. 1416 -1422, 2007 [Link]

Estimating viscoelastic properties of human limb joints based on motion capture and robotic identification technologies. G. Venture, K. Yamane, Y. Nakamura, M. Hirashima. IROS 2007, pp. 624 -629, 2007 [Link]

Modeling and identifying the somatic reflex network of the human neuromuscular system. A. Murai, K. Yamane, Y. Nakamura. EMBC 2007, pp. 2717 -2721, 2007 [Link]

Capture database through symbolization, recognition and generation of motion patterns. W. Takano, K. Yamane, Y. Nakamura. IEEE International Conference on Robotics and Automation, 2007 [Link]

Robot kinematics and dynamics for modeling the human body. K. Yamane, Y. Nakamura. International Symposium on Robotics Research, vol. , no. , pp. 77-78, 2007 [Link]

Identification of limbs joint passive visco-elasticity: a comparison of two experimental methods. G. Venture, Y. Nakamura, K. Yamane, M. Hirashima. International Symposium on Skill Science, pp. 31-37, 2007 [Link]

Motion capturing from monocular vision by statistical inference based on motion database: vector field approach. D. Lee, Y. Nakamura. IROS 2007, pp. 617--623, 2007 [Link]

Enhancement of boundary condition relaxation method for 3d hopping motion planning of biped robots. T. Sugihara, Y. Nakamura. IROS 2007, pp. 444 -449, 2007 [Link]

Automatic scheduling for parallel forward dynamics computation of open kinematic chains. K. Yamane, Y. Nakamura. Robotics: Science and Systems, 2007 [Link]

In vivo motion estimation for image stabilization in optical imaging through a contact-type sensor device. S. Lee, T. Ozaki, K. Yamane, Y. Nakamura. Joint Molecular Imaging Conference, pp. 427, 2007 [Link]

Domestic Journal

Symbolic memory of motion patterns using hierarchical bifurcations of attanctors in an associative memory model. H. Kadone, Y. Nakamura. Journal of the Robotics Society of Japan, Vol.25 No.2 no249-258, 2007 [Link]

Domestic Conference

Toe joint mechanism using closed link that enables bracing control by supporting with toe tips and toe pad. , T. Sugihara, Y. Nakamura. The 12th Robotics Symposia, pp. 28-33, 2007 [Link]

Enchancement of boundary condition relaxation method for 3d hopping motion planning of biped robots. T. Sugihara, Y. Nakamura. The 12th Robotics Symposia, pp. 190-195, 2007 [Link]

Stochastic theory for motion capturing from onboard monocular vision of humanoid robots. D. Lee, Y. Nakamura. Robotics Symposia, 2007 [Link]

Stochastic theory for motion capturing from onboard monocular vision of humanoid robots. D. Lee, Y. Nakamura. The 12th Robotics Symposia, pp. 424-429, 2007 [Link]

Auto-counstruction of hierarchical structure for motion recognition using stochastic model. O.Kazuhiro, Y. Nakamura. The 12th Robotics Symposia, pp. 418-423, 2007 [Link]

International Conference

Gravity compensation on humanoid robot control with robust joint servo and non-integrated rate-gyroscope. T. Sugihara, Y. Nakamura. IEEE-RAS International Conference on Humanoid Robotics, pp. 194-199, 2006 [Link]

Balanced micro/macro contact model for forward dynamics of rigid multibody. T. Sugihara, Y. Nakamura. Proc. of the IEEE International Conference on Robotics and Automation, pp. 1880-1885, 2006 [Link]

Segmentation, memorization, recognition and abstraction of humanoid motions based on correlations and associative memory. H. Kadone, Y. Nakamura. Humanoid 2006, pp. 1 -6, 2006 [Link]

Hierarchical concept formation in associative memory models and its application to memory of motions for humanoid robots. H. Kadone, Y. Nakamura. Humanoid 2006, pp. 432 -437, 2006 [Link]

Primitive communication based on motion recognition and generation with hierarchical mimesis model. W. Takano, K. Yamane, T. Sugihara, K. Yamamoto, Y. Nakamura. ICRA 2006, pp. 3602 -3609, 2006 [Link]

Segmentation, memorization, recognition and abstraction of humanoid motions based on correlations and associative memory. H. Kadone, Y. Nakamura. IEEE-RAS International Conference on Humanoid Robotics, pp. 1-6, 2006 [Link]

Hierarchical concept formation in associative memory models and its application to memory of motions for humanoid robot. H. Kadone, Y. Nakamura. IEEE-RAS International Conference on Humanoid Robotics, pp. 432-437, 2006 [Link]

Stochastic model of imitating a new observed motion based on the acquired motion primitives. D. Lee, Y. Nakamura. IROS 2006, pp. 4994 -5000, 2006 [Link]

Stochastic model of imitating a new observed motion based on the aquired motion primitives. D. Lee, Y. Nakamura. Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4994-5000, 2006 [Link]

Primitive communication based on motion recognition and generation with hierarchical mimesis model. W. Takano, K. Yamane, T. Sugihara, , Y. Nakamura. Proc. of the IEEE International Conference on Robotics and Automation, pp. 3602-3609, 2006 [Link]

Macroscopic modeling and identification of the human neuromuscular network. Y. Nakamura, K. Yamane, A. Murai. Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 99-105, 2006 [Link]

In-vivo estimation of the human elbow joint dynamics during passive movements using musculo-skeletal model computations. G. Venture, K. Yamane, Y. Nakamura. BioRob 2006, pp. 205 -210, 2006 [Link]

Identification of human musculo-tendon subject specific dynamics using musculo-skeletal computations and non linear least square. G. Venture, K. Yamane, Y. Nakamura. BioRob 2006, pp. 211 -216, 2006 [Link]

Gravity compensation on humanoid robot control with robust joint servo and non-integrated rate-gyroscope. T. Sugihara, Y. Nakamura. Humanoid 2006, pp. 194--199, 2006 [Link]

Parallel o(log n) algorithm for dynamics simulation of humanoid robots. K. Yamane, Y. Nakamura. Humanoids 2006, pp. 554 -559, 2006 [Link]

Balanced micro/macro contact model for forward dynamics of rigid multibody. T. Sugihara, Y. Nakamura. ICRA 2006, pp. 1880 -1885, 2006 [Link]

Stable penalty-based model of frictional contacts. K. Yamane, Y. Nakamura. ICRA 2006, pp. 1904 -1909, 2006 [Link]

Parallel o(logn) algorithm for dynamics simulation of humanoid robots. K. Yamane, Y. Nakamura. IEEE-RAS International Conference on Humanoid Robotics, pp. 554-559, 2006 [Link]

Application of non-linear least square method to estimate the muscle dynamics of the elbow joint. G. Venture, Y. Nakamura, K. Yamane. IFAC Symposium on System Identification, 2006 [Link]

Application of non-linear least square method to estimate the muscle dynamics of the elbow joint. G. Venture, Y. Nakamura, K. Yamane. IFAC Symposium on System Identification, pp. 1168--1173, 2006 [Link]

Passive stiffness estimation of human joints and its medical applications based on musculoskeletal dynamics model and motion-capturing. G. Venture, K. Yamane, Y. Nakamura. IFTOMM, pp. 91--96, 2006 [Link]

Identification of human musculo-tendon subject specific dynamics using musculo-skeletal computations and non linear least square. G. Venture, K. Yamane, Y. Nakamura. International Conference on Biomedical Robotics and Biomechatronics, 2006 [Link]

In-vivo estimation of the human elbow joint dynamics during passive movements using musculo-skeletal model computations. G. Venture, K. Yamane, Y. Nakamura. International Conference on Biomedical Robotics and Biomechatronics, 2006 [Link]

Stable penalty-based model of frictional contacts. K. Yamane, Y. Nakamura. Proc. of the IEEE International Conference on Robotics and Automation, pp. 2960-2965, 2006 [Link]

Identification of human musculo-tendon subject specific dynamics using musculo-skeletal computations and non-linear least squares. G. Venture, K. Yamane, Y. Nakamura. Proc. of the IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 211-216, 2006 [Link]

In-vivo estimation of the human elbow joint dynamics during passive movements using musculo-skeletal model computations. G. Venture, K. Yamane, Y. Nakamura. Proc. of the IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 205-210, 2006 [Link]

Application of non-linear least square method to estimate the muscle dynamics of the elbow joint. G. Venture, K. Yamane, Y. Nakamura. Proc. of the IFAC International Conference on Systems Identification, pp. 1168-1173, 2006 [Link]

Visual stabilization in fluorescent confocal microscopy for in-vivo molecular imaging. Y. Nakamura, K. Yamane, T. Tojo, S. Takahashi, Y. Tanikawa, H. Takahashi. Fifth Annual Meeting of the Society for Molecular Imaging, #216, 2006 [Link]

Visual stabilization in fluorescent confocal microscopy for in-vivo molecular imaging. Y. Nakamura, K. Yamane, T. Tojo, S. Takahashi, Y. Tanikawa, H. Takahashi. Fifth Annual Meeting of the Society for Molecular Imaging, pp. 216, 2006 [Link]

Domestic Journal

Whole-body cooperative reaction force manipulation on legged robots with cog jacobian involving implicitrepresentation of unactuatedcoordinates. T. Sugihara, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 24 no. 2 pp. 222-231, 2006 [Link]

High mobility control of humanoid robots based on an analogy of zmp-cog model and carted inverted pendulum model. T. Sugihara, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 24 no. 1 pp. 74-83, 2006 [Link]

Dual term absorption of disturbance for the whole-body cooperative motion control of humanoid robot. T. Sugihara, Y. Nakamura. Journal of the Robotics Society of Japan, vol. 24 no. 1 no 64-73, 2006 [Link]

Animatronic humanoid robot "ut-μ2". Y. Nakamura, T. Sugihara, . Journal of the Robotics Society of Japan, vol. 24 no. 2 no 190, 2006 [Link]

Domestic Conference

Legged motion planning of humanoid robots that change contact states variedly under severe time constraints. , T. Sugihara, Y. Nakamura. The 12th Jc-IFToMM Symposium, pp. 43-46, 2006 [Link]

Robust joint servo with cascaded two-degree-of-freedom control / pd control. T. Sugihara, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 2C14, 2006 [Link]

Trunk stabilization of humanoids via non-integrated rate-gyroscope feedback. T. Sugihara, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 3H26, 2006 [Link]

Symbol formation by auto
correlation based feature vectors and attractor integrations in associative memory dynamics. H. Kadone, Y. Nakamura. The 11th Robotics Symposia, pp. 104-109, 2006 [Link]

Communication acquisition of humanoid robot through interaction with its partner. W. Takano, K. Yamane, Y. Nakamura. The 12th Jc-IFToMM Symposium, pp. 51-54, 2006 [Link]

Motion database based on symbolization and categorization of motion patterns. W. Takano, K. Yamane, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 1M12, 2006 [Link]

Memory based segmentation, memory and abstraction of motion patterns utilizing pattern correlations and associative memory. H. Kadone, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 1D32, 2006 [Link]

Motion segmentation by sequentially updated stochastic model. O. Kazuhiro, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 1M14, 2006 [Link]

Motion recognition with a monocular vision system based on mimesis scheme. D. Lee, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 1M23, 2006 [Link]

Relaxed viterbi training: fast and reliable symbol acquisition of mimesis model. D. Lee, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 2D22, 2006 [Link]

Interactive contents between a human and a robot using primitive communication model based on symbolizing motion patterns. W. Takano, K. Yamane, T. Sugihara, , Y. Nakamura. The 2nd Digital Content Symposium, 4-2, 2006 [Link]

Passive stiffness estimation of human joints and its medical applications based on musculoskeletal dynamics model and motion-capturing. G. Venture, K. Yamane, Y. Nakamura. The 12th Jc-IFToMM Symposium, pp. 91-96, 2006 [Link]

Forward dynamics engine for humanoid robot simulator --comparison of computational efficiency--. K. Yamane, Y. Nakamura. The 24th Annual Conference of the Robotics Society of Japan, 2N23, 2006 [Link]

Fast physical simulation engines for creating dynamic character animations. K. Yamane, M. HIRASHIMA, Y. Nakamura. The 2nd Digital Content Symposium, 4-1, 2006 [Link]

Spider-man capture: towards makerless motion measurement. K. Yamane, H. Tanie, Y. Nakamura. The 2nd Digital Content Symposium, 4-3, 2006 [Link]

Visual stabilization for in-vivo molecular imaging. Y. Nakamura, K. Yamane, S. Lee, T. Ozaki. The 15th Japan Society of Computer Aided Surgery, 06-079, 2006 [Link]

International Journal

Development of a cybernetic shoulder -a three-dof mechanism that imitates biological shoulder motion-. M. OKADA, Y. Nakamura. IEEE Transactions on Robotics, vol. 21 no.3 pp.438-443, 2005 [Link]

Sensory reflex control for humanoid walking. Q. HUANG, Y. Nakamura. IEEE Transactions on Robotics, vol.21 no.5 pp.977-984, 2005 [Link]

Parallel dynamics computation and h-infinity acceleration control of parallel manipulators for acceleration display. N. Komine, K. YOSHIMOTO. ASME Journal of Dynamic Systems, vol.127 pp.185-191, 2005 [Link]

International Conference

Active-passive knee control for the humanoid ut-theta. D. Wollherr, Y. Nakamura, F. Zonfrilli. IEEE International Conference on Advanced Robotics, pp.692-697, 2005 [Link]

Walking control of the humanoid ut-theta. F. Zonfrilli, D. Wollherr, Y. Nakamura. IEEE International Conference on Advanced Robotics, pp.698-704, 2005 [Link]

An omnidirectional vehicle on a basketball. T. Endo, Y. Nakamura. IEEE International Conference on Advanced Robotics, pp.573-578, 2005 [Link]

A fast online gait planning with boundary condition relaxation for humanoid robots. T. Sugihara, Y. Nakamura. IEEE International Conference on Robotics and Automation, pp.306-311, 2005 [Link]

Online dynamical retouch of motion patterns towards animatronic humanoid robots. , Y. Nakamura. IEEE-RAS International Conference on Humanoid Robots, pp.117-122, 2005 [Link]

Design of humanoid with insert-molded cover towards the variety of exterior design of robots. T. Aono, Y. Nakamura. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1476-1481, 2005 [Link]

Architectural design of miniature anthropomorphic robots towards high-mobility. T. Sugihara, , Y. Nakamura. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1083-1088, 2005 [Link]

Motion emergence of humanoid robots by an attractor design of a nonlinear dynamics. A. Okada, K. Osato, Y. Nakamura. IEEE International Conference on Robotics and Automation, pp.18-23, 2005 [Link]

High marker density motion capture by retroreflective mesh suit. H. Tanie, K. Yamane, Y. Nakamura. IEEE International Conference on Robotics and Automation, pp.2895-2900, 2005 [Link]

Estimation of physically and physiologically valid somatosensory information. K. Yamane, Y. FUJITA, Y. Nakamura. IEEE International Conference on Robotics and Automation, pp.2635-2641, 2005 [Link]

Primitive communication of humanoid robot with human via hierarchical mimesis model on the proto symbol space. W. Takano, K. Yamane, Y. Nakamura. IEEE-RAS International Conference on Humanoid Robots, pp.167-174, 2005 [Link]

Symbolic memory for humanoid robots using hierarchical bifurcations of attractors in nonmonotonic neural networks. H. Kadone, Y. Nakamura. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2900-2905, 2005 [Link]

Mimesis from partial observations. D. Lee, Y. Nakamura. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1911-1916, 2005 [Link]

Mimetic communication theory for humanoid robots interacting with humans. Y. Nakamura, W. Takano, K. Yamane. International Symposium of Robotics Research, 2005 [Link]

Unsupervised probabilistic segmentation of motion data for mimesis modeling. B. Janus, Y. Nakamura. IEEE International Conference on Advanced Robotics, pp.411-417, 2005 [Link]

Probabilistic model of whole-body motion imitation from partial observations. D. Lee, Y. Nakamura. IEEE International Conference on Advanced Robotics, pp.337-343, 2005 [Link]

Key feature extraction for probabilistic categorization of human motion patterns. W. Takano, H. Tanie, Y. Nakamura. IEEE International Conference on Advanced Robotics, pp.424-430, 2005 [Link]

Identifying musculo-tendon parameters of human body based on the musculo-skeletal dynamics computation and hill-stroeve muscle model. G. Venture, K. Yamane, Y. Nakamura. International Conference on Humanoid Robotics, pp.351-356, 2005 [Link]

Animatronic humanoid robot system that responsively interacts with humans. K. Yamane, Y. Nakamura. International Symposium on Robotics, TH1C5, 2005 [Link]

Domestic Journal

Research on attractor design for the dynamics-based information processing system -on-line design for plastic property and hierarchical design for large-scale systems-. M. OKADA, D. NAKAMURA, H. Kadone, H. Kajiyama, Y. Nakamura. Journal of The Japanese Society for Artificial Intelligence, vol.23 no.5 no77-87, 2005 [Link]

Design of continuous symbol space and whole body motion generation using dynamics-based information processing system. M. OKADA, Y. Nakamura. Journal of the Robotics Society of Japan, vol.23 no.7 pp.858-863, 2005 [Link]

�����`���w�n���A�g���N�^���v�������q���[�}�m�C�h���{�b�g���^���n��. M. OKADA, K. Osato, Y. Nakamura. Journal of the Society of Instrument and Control Engineers, vol.41 no.6 pp.533-540, 2005 [Link]

Domestic Conference

A vehicle that moves to all directions on one spherical rubber tires. T. Endo, Y. Nakamura. The 11th Jc-IFToMM Symposium, 2005 [Link]

Design of whole-body covered humanoid - a trial towards the variety of exterior design of robots -. T. AONO, Y. Nakamura. the 23rd Annual Conference of the Robotics Society of Japan, 2F16, 2005 [Link]

Animatronic control of a humanoid robot onthe combination of mimetic comunication and boundary condition relaxation method. T. Sugihara, K. Yamane, W. Takano, Y. Nakamura, . the 23rd Annual Conference of the Robotics Society of Japan, 3F18, 2005 [Link]

Development of a miniature anthropomorphic device towards the deployment of animatronics. T. Sugihara, K. Yamane, W. Takano, Y. Nakamura, . the 23rd Annual Conference of the Robotics Society of Japan, 2F15, 2005 [Link]

Development of "animatocore" - a portable control unit for miniature robots. , T. Sugihara, Y. Nakamura. the 23rd Annual Conference of the Robotics Society of Japan, 1E32, 2005 [Link]

Development of a omni-directional vehicle that balances on a basketball. T. ENDO, Y. Nakamura. the 23rd Annual Conference of the Robotics Society of Japan, 2G21, 2005 [Link]

Segmentaion of human behavior patterns based on the probabilistic correlation. W. Takano, Y. Nakamura. The 19th Annual Conference of the Japanese Society for Artificial Intelligence, 3F1-02, 2005 [Link]

Hierarchical model for primitive communication based on motion recognition and generation. W. Takano, K. Yamane, Y. Nakamura. the 23rd Annual Conference of the Robotics Society of Japan, 2H24, 2005 [Link]

International Journal

Embodied symbol emergence based on mimesis theory. T. Inamura�I. Toshima, H. Tanie, Y. Nakamura. International Journal of Robotics Research, Vol.23 No.4, 2004 [Link]

Synthesizing animations of human manipulatioin tasks. K.Yamane, J.Kuffner, J.K.Hodgins. ACM Transactions on Graphics, vol.23 no.3, 2004 [Link]

Somatosensory computation for man-machine interface from motion capture data and musculoskeletal human model. Y. Nakamura, K.Yamane, Y.Fujita, I.Suzuki. IEEE Transactions on Robotics, 2004 [Link]

Simulating and generating motions of human figures. K. Yamane. Springer Tracts in Advanced Robotics, vol.9, 2004 [Link]

International Conference

Constraints and deformations analysis for machining accuracy assessment of closed kinematic chains. Y. Nakamura, A. Murai. Proc. of IEEE International Conference on Robotics and Automation(ICRA2004), pp.1706-1712, 2004 [Link]

Pattern formation theory for electroactive polymer gel robots. M. OTAKE, Y. Nakamura, H. Inoue. Proc. of IEEE International Conference on Robotics and Automation(ICRA2004), pp.2782-2787, 2004 [Link]

Design of the continuous symbol space for the intelligent robots using the dynamics-based information processing. M. OKADA, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2004), pp.3201-3206, 2004 [Link]

Computing a set of local optimal paths through cluttered environments and over open terrain. Z. SHILLER, Y. FUJITA, D. Ophir, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2004), pp.4759-4764, 2004 [Link]

Domestic Journal

An integrated model of imitation learning and symbol emergence based on mimesis theory. T. Inamura, Y. Nakamura, I. Toshima , H. Ezaki. Journal of Robotics Society of Japan, Vol.22 No.2 no256-263, 2004 [Link]

International Journal

Natural motion animation through constraining and deconstraining at will. K. Yamane, Y. Nakamura. IEEE Transaction on Visualization and Computer Graphics, vol.9 no.3 pp.352-360, 2003 [Link]

Dynamics filter - concept and implementation of on-line motion generator for human figures. K. Yamane, Y. Nakamura. IEEE Transactions on Robotics and Automation, vol. 19 no. 3 no 421-432, 2003 [Link]

Real-time 3d deformation imaging of abdominal organs in laparoscopy. M. Hayashibe, Naoki Suzuki, Y. Nakamura, Asaki Hattori. Medicine Meets Virtual Reality 11 IOS Press, pp.117-123, 2003 [Link]

International Conference

Variable impedant inverted pendulum model control for a seamless contact phase transition on humanoid robot. T. Sugihara, Y. Nakamura. Proc of International Conference on Humanoid Robots(HUMANOIDS2003), 5b-06, 2003 [Link]

Contact phase invariant control for humanoid robot based on variable impedant inverted pendulum model. T. Sugihara, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2003), pp.51-56, 2003 [Link]

Double spherical joint and backlash clutch for lower limbs of humanoids. M. OKADA, T. Shinohara, T. Gotoh, S. Ban, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2003), pp.491-496, 2003 [Link]

Synthesis of dynamics based information processing system of robot using synchronization in the coupled arnold equations. A. Sekiguchi, Y. Nakamura. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-II-2, 2003 [Link]

Hierachical design of dynamics based information processing system for humanoid motion generation. M. Okada, D. Nakamura, Y. Nakamura. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-1, 2003 [Link]

Humanoid robot mechanisms for responsive mobility. M. Okada, T. Shinohara, T. Gotoh, S. Ban, Y, Nakamura. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-3, 2003 [Link]

Whole-body cooperative cog control through zmp manipulation for humanoid robots. T. Sugihara, Y. Nakamura. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-4, 2003 [Link]

From stochastic motion generation and recognition to geometric symbol development and manipulation. T. Inamura, H. Tanie, Y. Nakamura. Proc of International Conference on Humanoid Robots(HUMANOIDS2003), 1b-02, 2003 [Link]

Dimensionality reduction and reproduction with hierarchical nlpca neural networks extracting common space of multiple humanoid motion patterns. K. Tatani, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2003), pp.1927-1932, 2003 [Link]

An approach from motion generation recognition to intelligence based on mimesis principle. T. Inamura, H. Tanie, I. Toshima, Y. Nakamura. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaA-II-1, 2003 [Link]

Reductive mapping for sequential patterns of humanoid body motion. K. Tatani, Y. Nakamura. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-2, 2003 [Link]

Controlling a motorized marionette with human motion capture data. K. Yamane, J.K. Hodgins, H.B. Brown. Proc of International Conference on Humanoid Robots(HUMANOIDS2003), 1b-04, 2003 [Link]

Inverse dynamics of gel robots made of electro-active polymer gel. M. Otake, Y. Kagami, Y. Kuniyoshi, M. Inaba, H. Inoue. Proc. of IEEE International Conference on Robotics and Automation(ICRA2003), pp.2299-2304, 2003 [Link]

Dual dijkstra search for paths with different topologies. Y. FUJITA, Y. Nakamura, Z. SHILLER. Proc. of IEEE International Conference on Robotics and Automation(ICRA2003), pp.3359-3364, 2003 [Link]

Controlling a marionette with human motion capture data. K. Yamane, J.K. Hodgins, H.B. Brown. Proc. of IEEE International Conference on Robotics and Automation(ICRA2003), pp.3834-3841, 2003 [Link]

Dynamic computation of musculo-skeletal human model based on efficient algorithm for closed kinematic chains. Y. Nakamura, K. Yamane, I. Suzuki, Y. Fujita. Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-I-2, 2003 [Link]

Domestic Journal

Gel actuator. M. Otake. Journal of Robotics Society of Japan, Vol.21 No.7 no713-716, 2003 [Link]

Open architecture humanoid robotics platform: openhrp. F. Kanehiro, K. Fujiwara, S. Kajita, K. Yokoi, K. Kaneko, H. Hirukawa, Y. Nakamura, K. Yamane. Journal of Robotics Society of Japan, ol.21 No.7 no785-793, 2003 [Link]

Passive safety enhancement in surgical robot navigation. Y. Nakamura, M. Hayashibe, Hiroyuki Shimizu. Journal of Robotics Society of Japan, Vol.21 No.2 no178-184, 2003 [Link]

Laser-pointing endoscope system for intraoperative 3d geometric registration. Y. Nakamura, M. Hayashibe. Journal of Robotics Society of Japan, Vol.21 No.3 no302-308, 2003 [Link]

Motion-cancelling robot system for minimally invasive cardiac surgery. Y. Nakamura, K. KISHI, M. OKADA. Journal of Robotics Society of Japan, Vol.21 No.4 no117-125, 2003 [Link]

Domestic Conference

Development of an anthropomorphic device for fundamental experiments towards the acquisition of high mobility. T. Sugihara, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 2A24, 2003 [Link]

Development of "double spherical shoulder joint" for humanoid robots. Y. YAMAMOTO, M. OKADA, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 2A25, 2003 [Link]

Computation of contact force for multibody system based on multipoint rigid contact model. T. Sugihara, Y. Nakamura. the 8th Robotics Symposia, 2003 [Link]

Design of closed kinematic chains considering machining errors and kinematic constraints. A. Murai, Y. Nakamura. The 9th Jc-IFToMM Symposium 2003, 2003 [Link]

�^���p�^�[�����Fｯ/�������P�����f���������������������U�I�K�w���������s���m�\���W��. T. Inamura, H. Tanie, Y. Nakamura. The 17th Annual Conference of the Japanese Society for Artificial Intelligence, 2003 [Link]

Construction of proto-symbol space in which stored motion pattern by continuous hmms adopted topological structur. H. Tanie, T. Inamura, Y. Nakamura. The 17th Annual Conference of the Japanese Society for Artificial Intelligence, 2003 [Link]

Keyframe extraction and decompression for time series data based on continuous hidden markov models. T. Inamura, H. Tanie, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 2J22, 2003 [Link]

Dance motion synthesis with music synchronization. P. VINCENT, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 2J28, 2003 [Link]

Design of continuous symbol space for intelligent robots using dynamics. M. OKADA, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 3B31, 2003 [Link]

Dynamics based information processing system which obtains symbols by self-organization. D. NAKAMURA, M. OKADA, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 3K34, 2003 [Link]

Symbol grounding by entrainment of dynamical systems. H. Kadone, M. OKADA, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 3K35, 2003 [Link]

Abstract of proto-symbol sequence based on proto-symbol space using statistic information. H. Tanie, T. Inamura, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 3K36, 2003 [Link]

An approach from motion generation/recognition to intelligence based on the mimesis principle>--a developmental model of mirror neurons--. T. Inamura, Y. Nakamura. the 8th Robotics Symposia, pp.246--251, 2003 [--A%20developmental%20model%20of%20mirror%20neurons-->Link]

Reductive mapping for sequential patterns of humanoid body motion. K. Tatani, Y. Nakamura. the 8th Robotics Symposia, 2003 [Link]

Attitude estimation by compensating gravity direction. L. PONGSAK, M. OKADA, T. Shinohara, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 2A23, 2003 [Link]

Reliability and security issues of surgical robot system. M. ODAMURA, M. OKADA, Y. Nakamura. the 21st Annual Conference of the Robotics Society of Japan, 2F14, 2003 [Link]

International Conference

Realtime humanoid motion generation through zmp manipulation based on inverted pendulum control. T. Sugihara, Y. Nakamura, H. Inoue. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.2 pp.1404-1409, 2002 [Link]

Polynomial design of the nonlinear dynamics for the brain-like information processing of whole body motion. M. OKADA, K. TATANI, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.2 pp.1410-1415, 2002 [Link]

Skill of compliance with controlled charging/discharging of kinetic energy. M. OKADA, S. BAN, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.3 pp.2455-2460, 2002 [Link]

Whole-body cooperative balancing of humanoid robot using cog jacobian. T. Sugihara, . Proc. of the 2002 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS2002), pp.2575--2580., 2002 [Link]

Acquisition and embodiment of motion elements in closed mimesis loop. T. Inamura, I. Toshima, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.2 pp.1539-1544, 2002 [Link]

Associative computational model of mirror neurons that connects missing link between behaviors and symbols. T. Inamura, Y. Nakamura, M. Shimozaki.. Proc. of the 2002 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS2002), pp.1032--1037., 2002 [Link]

Open architecture humanoid robotics platform. F. KANEHIRO, K. FUJIWARA, S. KAJITA, K. YOKOI, K.KANEKO, H. HIRUKAWA, Y. Nakamura, K. Yamane. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.1 pp.24-30, 2002 [Link]

Efficient parallel dynamics computation of human figures. K. Yamane, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.1 pp.530-537, 2002 [Link]

Synergetic cg choreography through constraining and deconstraining at will. K. Yamane, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.1 pp.855-862, 2002 [Link]

Optical motion capture system with pan-tilt camera tracking and realtime data processing. K. KURIHARA, S. HOSHINO, K. Yamane, Y. Nakamura. Proc. of IEEE International Conference on Robotics and Automation(ICRA2002), Vol.2 pp.1241-1248, 2002 [Link]

Intraoperative fast 3d shape recovery of abdominal organs in laparoscopy. M. Hayashibe, N. Suzuki, A. Hattori, Y. Nakamura. Medical Image Computing and Computer-Assisted Intervention 2002, Lecture Notes in Computer Science:Springer, pp.356-363, 2002 [Link]

Small occupancy robotic mechanisms for endoscopic surgery. Y. Kobayashi, S. Chiyoda, K. Watabe, M. OKADA, Y. Nakamura. Proc. of International Conference on Medical Computing and Computer Assisted Intervention(MICCAI2002), pp.75-82, 2002 [Link]

Development of a motorcycle simulator using parallel manipulator and head mounted display. S. Chiyoda, K. YOSHIMOTO, D. Kawasaki, Y. Murakami, T. Sugimoto. Proc. of International Conference on Motion and Vibration Control(MOVIC2002), pp.599-602., 2002 [Link]

Domestic Journal

Looking for an open problem? just open the problem. Y. Nakamura. Journal of Robotics Society of Japan, Vol.20 No.2 pp.130-131, 2002 [Link]

Pin-and-drag synergetic interface for choreography of human figures. K. Yamane, Y. Nakamura. Journal of Robotics Society of Japan, Vol.20 No.3 pp.335-343, 2002 [Link]

Domestic Conference

Design of knee joint mechanism that follows external force for biped walking robots. M. OKADA, Tatsuya GOTOH, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.1C19, 2002 [Link]

Synthesis of dynamics based information processing system of robot using synchronization in the coupled arnold equations. A. Sekiguchi, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.3H17., 2002 [Link]

Contact phase invariant controller design for humanoid robot based on inverted pendulum model with variable impedance leg. T. Sugihara, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.1C21., 2002 [Link]

Development of humanoid robot with "double spherical hip joint". T. Shinohara, S. BAN, T. GOTOH, T. Inamura, M. OKADA, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.1C16, 2002 [Link]

�S�g�^�q���[�}�m�C�h���p�����������@�\���J��. T. Shinohara, M. Okada, Y. Nakamura. �v��ｩ�������w���V�X�e���C���e�O���[�V���������u�����\�e�W, 2P13-03, 2002 [Link]

Autonomous motion generation for humanoid robot using dynamics based information processing system. D. Nakamura, M. Okada, Y. Nakamura. Proceedings of Annual Conference of JSME Vol.VI, pp.167-168., 2002 [Link]

�q���[�}�m�C�h���{�b�g���^���p�^�[�����k�����������������^������. K. Tatani, Y. Nakamura. The 16th Annual Conference of the Japanese Society for Artificial Intelligence, 2002 [Link]

�~���V�X���������q���[�}�m�C�h���s���l�������n�V���{�����n��. T. Inamura, I. Toshima, Y. Nakamura. The 16th Annual Conference of the Japanese Society for Artificial Intelligence, 2002 [Link]

Mirror neurons models which absorb diference of body conditions between teacher and learner. T. Inamura, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.3H18., 2002 [Link]

Motion pattern clustering of humanoid robot based on nlpca. K. TATANI, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.1C37., 2002 [Link]

Acquiring bidirectional computation model of motion recognition and generation and its application to humanoids. T. Inamura, Y. Nakamura. the 3rd SICE System Integration Division Annual Conference (SI2002), 2P12-01, 2002 [Link]

���w�I���������n���K�w���������q���[�}�m�C�h���{�b�g���s������. M. Okada, D. Nakamura, Y. Nakamura. �v��ｩ�������w���V�X�e���C���e�O���[�V���������u�����\�e�W, 2P12-02, 2002 [Link]

���������w�v�Z�@���p���������l�����f�����������l�������w�v�Z. I. Suzuki, K. Yamane, H. Oya, K. Kurihara, Y. Nakamura. Proceedings of Annual Conference of JSME Vol.VI, pp.139-140, 2002 [Link]

Musculoskeketal dynamic calculation from inverse kinematics of minute detail human body model using motion capture. K. KURIHARA, I. SUZUKI, K. Yamane, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.3C15., 2002 [Link]

Efficient dynamics computation of detailed musculo-skeletal human model. I. Suzuki, Katz Yamane, K. Tatani, K. Kurihara, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.3C14., 2002 [Link]

Dual dijkstra search for planning paths which have different topologies. Y. FUJITA, Y. Nakamura, Z.SHILLER. the 20th Annual Conference of the Robotics Society of Japan, pp.1D22., 2002 [Link]

Optimal filtering for humanoid robot state estimators. P. Lekskulchai, M. OKADA, Y. Nakamura. �v��ｩ�������w���V�X�e���C���e�O���[�V���������u�����\�e�W, 2P13-04, 2002 [Link]

Making h-anim model for kinematic and dynamic simulation of humanoid robot. C. Guillaume, Y. Nakamura. �v��ｩ�������w���V�X�e���C���e�O���[�V���������u�����\�e�W, 2P13-05, 2002 [Link]

�����l�����f�������������A���^�C�����[�V�����L���v�`���V�X�e��. I. Suzuki, K. Kurihara, Y. Nakamura. �v��ｩ�������w���V�X�e���C���e�O���[�V���������u�����\�e�W, 2P13-06, 2002 [Link]

Surgery robot system consisuts of passive positioner and small active mechanism. A. Murai, M. OKADA, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.2L16., 2002 [Link]

Development of the tripodal platform active forceps. S. CHIYODA, M. OKADA, Y. Nakamura. the 20th Annual Conference of the Robotics Society of Japan, pp.2L14., 2002 [Link]

Development of the active forceps using jigsaw block slide. S. CHIYODA, M. OKADA, Y. Nakamura. The 8th Jc-IFToMM Symposium, 2002 [Link]

International Journal

Design and control of the nonholonomic manipulator. Y. Nakamura, W. CHUNG, O.J. Sordalen. IEEE Trans. on Robotics and Automation, Vol.17 No.1 pp.48-59, 2001 [Link]

Design of steering mecanism and control of the nonholonomic trailer system. Y. Nakamura, H. Ezaki, Y. Tan, W. CHUNG. IEEE Trans. on Robotics and Automation, Vol.17 No.3 pp.367-374, 2001 [Link]

The chaotic mobile robot. Y. Nakamura, A. Sekiguchi. IEEE Trans. on Robotics and Automation, Vol.17 No.6 pp.898-904, 2001 [Link]

Humanoid robot simulator for the meti hrp project. Y. Nakamura, H.Hirukawa, K.Yamane, S.Kajita, K.Fujiwara, F.Kanehiro, F.Nagashima, Y.Murase, M.Inaba. Robotics and Autonomous Systems, Vol.37, 2001 [Link]

Robotic stabilization assisting cardiac surgery on beating hearts. Y. Nakamura, K.Kishi. Minimally invasive Therapy and Allied Technologies, 10(4/5), 2001 [Link]

International Conference

Laser-pointing endoscope system for natural 3d interface between robotic equipments and surgeons. Y. Nakamura, M. HAYASHIBE. Medicine Meets Virtual Reality, pp.348-354, 2001 [Link]

Domestic Journal

Microgravity rover using electro?magnetic actuation. Y. Nakamura, Shingo Shimoda, Sanefumi Shoji. Journal of Robotics Society of Japan, Vol.19 No.4 pp.485-491, 2001 [Link]

Control of nonholonomic free?joint manipulators. T. Suzuki, W. Miyoshi, Y. Nakamura. Journal of Robotics Society of Japan, Vol.19 No.4 pp.499-509, 2001 [Link]

Shoulder mechanism for humanoid robots that coexist with human --morphological affinity and mechanical passive compliance--. M. OKADA, Y. Nakamura. Journal of Robotics Society of Japan, Vol.19 No.7 pp.818-821, 2001 [Link]

H��Edesign of hybrid compliance using upper/lower bound in the frequency domain-- shaping and control of dynamic compliance of humanoid shoulder mechanisms --. M. OKADA, Y. Nakamura, S. Hoshino. Journal of Robotics Society of Japan, Vol.19 No.8 pp.974-982, 2001 [Link]

The virtual robot platform. Y. Nakamura, H. Hirukawa, K. Yamane, S. Kajita, K. Yokoi, M. Fujie, A. Takanishi, K. Fujiwara, S. Nagashima, Y. Murase, M. Inaba, H. Inoue. Journal of Robotics Society of Japan, Vol.19 No.1 pp.28-36, 2001 [Link]

Domestic Conference

Mathmatical scientific expression and analysis of the human and human environment. M. OKADA. the 19th Annual Conference of the Robotics Society of Japan, 2L12, 2001 [Link]

Skill of compliance with charging/discharging of energy. S. BAN, M. OKADA, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, 3I25, 2001 [Link]

Polynomial expression of the non-linear dynamics that memorizes and associates n-dimensional time sequence pattern. M. OKADA, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, pp.1229--1230, 2001 [Link]

Making motion primitive by calculating correlations of each joint and abstract it with hmm. I. Toshima, T. Inamura, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, pp.1237--1238, 2001 [Link]

Hierarchical nonlinear principle component analysis for motion pattern integration of humanoid robot. K. Tatani, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, pp.555--556, 2001 [Link]

Integration of behavior recognition and generation processes based on associative memory. T. Inamura, Y. Nakamura, Moriaki Simozaki. the 19th Annual Conference of the Robotics Society of Japan, pp.1237--1238, 2001 [Link]

O(logn) parallel forward dynamics computation --application to humanoid simulator--. K. Yamane, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, 1A14, 2001 [Link]

Real-time labeling with parallel computing for optical motion capture system. K. KURIHARA, K. Yamane, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, pp.595--596, 2001 [Link]

Synergetic choreography of whole-body motions of human figures. K. Yamane, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, 3A33, 2001 [Link]

Slave robot system that does not occupy large space in operating rooms. Y. KOBAYASHI, M. OKADA, Y. Nakamura. the 19th Annual Conference of the Robotics Society of Japan, pp.757--758, 2001 [Link]

International Journal

Dynamics computation of structure-varying kinematic chains and its application to human figures. Y. Nakamura, K. Yamane. IEEE Trans. on Robotics and Automation, Vol.16 No.2 pp.124-134, 2000 [Link]

International Conference

The chaotic mobile robot. A.Sekiguchi, Y. Nakamura. Systemics,Cyberenetics and Informatics 2000, Volume9-463, 2000 [Link]

Real-time interactive motion generator of human figures. Y. Nakamura, K. Yamane. First International Symposium on Adaptive Motions of Animals and Machines, E-21, 2000 [Link]

Interactive motion generation of humanoid robots via dynamics filter. Y. Nakamura, K. Yamane. The First IEEE-RAS International Conference on Humanoid Robots, 54, 2000 [Link]

Domestic Journal

Robots for minimally invasive surgery. Y. Nakamura. Journal of Robotics Society of Japan, Vol.18 No.1 pp.41-44, 2000 [Link]

Development of cybernetic shoulder --a three dof mechanism that imitates human shoulder-motions--. M. OKADA, Y. Nakamura. Journal of Robotics Society of Japan, Vol.18 No.5 pp.690-698, 2000 [Link]

Motion cancelling robot system for minimally invasive cardiac surgery. Y. Nakamura, H. KAWAKAMI, M. OKADA. Journal of Robotics Society of Japan, Vol.18 No.6 pp.873-881, 2000 [Link]

Parallel real-time dynamics computation and h��Eacceleration feedback control of parallel manipulatiors for acceleration display. Y. Nakamura, K. Yamane, M. OKADA Noriaki Komine. Journal of Robotics Society of Japan, Vol.18 No.3 pp.426-434, 2000 [Link]

Dynamics of kinematic chains with discontinuous changes of constraints --application to human figures that move in contact with the environments--. Y. Nakamura, K. Yamane. Journal of Robotics Society of Japan, Vol.18 No.3 pp.435-443, 2000 [Link]

Domestic Conference

Behavior control of robot using orbits of nonlinear dynamics. A. Sekiguchi, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 2J14, 2000 [Link]

A biped humanoid simulator with analysis of physical capabilities. Q. HUANG, Y. Nakamura, H. Arai, K. Tanie. the 18th Annual Conference of the Robotics Society of Japan, 3P21, 2000 [Link]

Shoulder mechanism with programmable passive compliance --development of the neo cybernetic shoulder--. M. OKADA, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 2P17, 2000 [Link]

Design of a robust adaptive control system for an underactuated robot manipulator with uncertainties. J.-H. Shin, Y. Nakamura, J.-J. Lee. the 18th Annual Conference of the Robotics Society of Japan, 1N14, 2000 [Link]

Shoulder mechanism with human-like motion. M. OKADA, Y. Nakamura. The 6th Jc-IFToMM Symposium, pp.9-13, 2000 [Link]

Generation of whole body motion using mimesis loop and primitive symbols. T.Inamura, I.Toshima, H.Ezaki, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 2J24, 2000 [Link]

Research on humanoid robots with brain-like information processing. Y. Nakamura, T. Inamura. the 18th Annual Conference of the Robotics Society of Japan, 2J15, 2000 [Link]

Parallelizable efficient forward dynamics computation based on the principle of virtual work. K. Yamane, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 3F23, 2000 [Link]

Network distrbuted dynamics computation for the hrp virtual platform. K. Yamane, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 1P13, 2000 [Link]

Tracking motion capture. S. HOSHINO, K. Yamane, M. Okada, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 1K12, 2000 [Link]

Real-time laser-pointing interface for endoscopic surgery. M. Hayashibe, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 2L25, 2000 [Link]

Motion-cancelling robot system for minimally invasive cardiac surgery. K. Kishi, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, 1L33, 2000 [Link]

Motion cancelling robot system for minimally invasive cardiac surgery. K. KISHI, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, pp.69-70, 2000 [Link]

Laser-pointing endoscope with an intra-operative support interface. M. Hayashibe, Y. Nakamura. the 18th Annual Conference of the Robotics Society of Japan, pp.83-84, 2000 [Link]

International Conference

Development of humanoid simulator as an efficient rd platform. Y. Nakamura, K. Yamane, F. Nagashima, H. Hirukawa. International Symposium on Robotics Research (ISRR99), Proc. of ISRR99, 1999 [Link]

Domestic Journal

Optical drive of sma active forceps for minimally invasive surgery. Y. Nakamura, K. Shimizu. Journal of Robotics Society of Japan, pp.439-448, 1999 [Link]

Design of the chained form manipulator. W. CHUNG, Y. Nakamura. Journal of Robotics Society of Japan, Vol.17 No.1 pp.61-67, 1999 [Link]

Optical drive of sma active forceps for minimally invasive surgery. Y. Nakamura, K. Shimizu. Journal of Robotics Society of Japan, Vol.17 No.3 pp.439-448, 1999 [Link]

Human-like compliant motion and its mechanism. M. OKADA. Journal of Robotics Society of Japan, Vol.17 No.6 pp.783-765, 1999 [Link]

Design of steering mechanism and control of nonholonomic trailer systems. Y. Nakamura, H. Ezaki, W. CHUNG. Journal of Robotics Society of Japan, Vol.17 No.6 pp.839-847, 1999 [Link]

Experiments of a space robot in free-fall microgravity --experimental methods and visual measurement in a small space--. Y. Nakamura, Y. WATANABE, K. Araki. Journal of Robotics Society of Japan, Vol.17 No.7 pp.975-982, 1999 [Link]

Domestic Conference

Automatic steering control for driver assistance. H. TANAKA, S. Kawakami, K. Yoshimoto. 1999 JSAE Annual Congress, 1999 [Link]

Design of mechanism of nonholonomic trailers. Y. Tan, H. Ezaki, M. OKADA, Y. Nakamura. the 17th Annual Conference of the Robotics Society of Japan, pp.863-864, 1999 [Link]

Design of humanoid compliance in the frequency domain. M. OKADA, Y. Nakamura. the 17th Annual Conference of the Robotics Society of Japan, pp1203-1204, 1999 [Link]

Behavior control of robot through chaotic information processing. A. Sekiguchi, Y. Nakamura. the 17th Annual Conference of the Robotics Society of Japan, pp.643-644, 1999 [Link]

Motion generation of humanoid robots via dynamic filter -application to the hrp virtual platform-. K. Yamane, Y. Nakamura. the 17th Annual Conference of the Robotics Society of Japan, pp.1213-1214, 1999 [Link]

Behavior capture system. S. Okamoto, K. Fujihara, Y. Nakamura. the 17th Annual Conference of the Robotics Society of Japan, pp.753-754, 1999 [Link]

Robot system for minimally invasive cardiac surgery. K. KISHI, H. KAWAKAMI, Y. Nakamura. the 17th Annual Conference of the Robotics Society of Japan, pp.677-678, 1999 [Link]

Make robots move like human. K. Yamane, Y. Nakamura. The 5th Jc-IFToMM Symposium, pp.26-32, 1999 [Link]

Motion cancelling robot system for minimally invasive cardiac surgery. K. KISHI, H. KAWAKAMI, Y. Nakamura. the 8th Japan Society of Computer Aided Surgery, pp.115-116, 1999 [Link]

A real-time laser-pointing endoscope for minimally invasive surgeryzz. M. HAYASHIBE, S. BABA, Y. Nakamura. the 8th Japan Society of Computer Aided Surgery, pp.95-96, 1999 [Link]

International Conference

Development of cybernetic shoulder : a three dof mechanism that imitates biological shoulder-motions. M.Okada, Y. Nakamura, K.Yoshimoto. 2nd Japan-China Bilateral Symposium on Advanced Manufacturing Engineering, pp196-201, 1998 [Link]

Analysis and synthesis of motion for a humanoid robot using human motion data. A. DasGupta, Y. Nakamura, K. Yoshimoto. 2nd Japan-China Bilateral Symposium on Advanced Manufacturing Engineering, pp.180-185, 1998 [Link]

Intelligent mobile robot with chaotic information processing. A. Sekiguchi, Y. Nakamura, K. Yoshimoto. 2nd Japan-China Bilateral Symposium on Advanced Manufacturing Engineering, pp.190-195, 1998 [Link]

Orbit control for a spacecraft via the gravity gradient force. Y.Watanabe, Y. Nakamura. 49th International Astronautical Congress, IAF-98-A.2.08, 1998 [Link]

Domestic Journal

A space robot with the center-of-mass invariance. Y. WATANABE, Y. Nakamura. Journal of Robotics Society of Japan, Vol.16 No.2 pp.124-130, 1998 [Link]

Behavior analysis and control by amplitude modulation of nonholonomic mechanical systems via the averaging method -positioning control of planar 2r free-joint manipulators-. Y. Nakamura, T. Suzuki. Journal of Robotics Society of Japan, 16(3) pp.407-416, 1998 [Link]

References of references in kinematics and dynamics. Y. Nakamura. Journal of Robotics Society of Japan, Vol.16 No.7 pp.878-881, 1998 [Link]

Dynamics computation of structure-varying kinematic chains and its application to human figures. Y. Nakamura, K. Yamane, F. Nagashima. Journal of Robotics Society of Japan, pp.1152-1159, 1998 [Link]

Domestic Conference

Integrating softness through actuator and mechanism design. Y. Nakamura, M. Okada, K. Ohnuma. Symposium of the JSPS FY2000 Research for the Future Program, 1998 [Link]

Torso robot with cybernetic shoulder. M.Okada, N.Mizushima, Y. Nakamura. the 16th Annual Conference of the Robotics Society of Japan, 1998 [Link]

On the synthesis of motion for a humanoid robot using human motion data. A. DasGupta, Y. Nakamura. the 16th Annual Conference of the Robotics Society of Japan, 3K12 Vol.3 pp.1351-1352, 1998 [Link]

An experimant for the gravity gradient using mgnetic field in microgravity. Y. WATANABE, Y. Nakamura. the 16th Annual Conference of the Robotics Society of Japan, 3H32, 1998 [Link]

Emerging mechanism of intelligence through chaotic information processing. A. Sekiguchi, Y. Nakamura. the 16th Annual Conference of the Robotics Society of Japan, 2o14 Vol.2 pp.907-908, 1998 [Link]

Design and control of nonholonomic trailers with steering. H. TANAKA, Y. Nakamura, W. CHUNG. the 16th Annual Conference of the Robotics Society of Japan, pp.687-688., 1998 [Link]

Dynamics computation of general structure-varying kinematic chains -aplication to simulation of humanoid robots. K. Yamane, Y. Nakamura. the 16th Annual Conference of the Robotics Society of Japan, 3K11 Vol.3 pp.1349-1350, 1998 [Link]

A robot support system for minimally invasive cardiac surgery using image processing. H. KAWAKAMI, M. OKADA, Y. Nakamura. the 16th Annual Conference of the Robotics Society of Japan, 3B43 Vol.3 pp.1007-1008, 1998 [Link]

Intelligent mobile robot with chaotic information processing. A. Sekiguchi, Y. Nakamura. The 4th Jc-IFToMM Symposium, pp.39-42, 1998 [Link]

International Journal

Nonlinear behavior and control of a nonholonomic free-joint manipulator. Y. Nakamura, T.Suzuki, M.Koinuma. IEEE Trans. on Robotics and Automation, 1997 [Link]

Automatic driving using image information. K. Yoshimoto, K. Iwatani, T. Kokubo. JSAE Review, Vol.18 No.2, 1997 [Link]

Course tracking control algorithm using visual information. K. Yoshimoto, H. Ogawa, H. Kubota. Vehicle System Dynamics, 1997 [Link]

International Conference

The effect of automatic driving on traffic flow. K. Yoshimoto, T. Kokubo. 4th World Congress on ITS, 1997 [Link]

How to cover the risks of traffic accident liability and the threadbare its infrastructure. K. Yoshimoto. 4th World Congress on ITS, 1997 [Link]

Motion synthesis, learning and abstraction through parametrized smooth map from sensors to behaviors. Y. Nakamura, T.Yamazaki, N.Mizushima. Prepoints of the 8th International Symposium of Robotics Reseach, 1997 [Link]

Prospects for automated highway systems in japan. K. Yoshimoto. SAE Future Transportation Technology Conference, 1997 [Link]

Orbital transfer of a space system using gravity-gradient. Y. WATANABE, Y. Nakamura. The 6th Astrodynamics Symposium, 1997 [Link]

Domestic Journal

Statics of grasping and manipulation that is applicable to powergrasp. X.Y. Zhang, Y. Nakamura, K. Yoshimoto. Journal of Robotics Society of Japan, Vol.15 No.2 pp.45-53, 1997 [Link]

The integration theory of reactive behaviors and its application to reactive grasp by a multi-fingered hand. Y. Nakamura, T. YAMAZAKI. Journal of Robotics Society of Japan, Vol.15 No.3 pp.136-147, 1997 [Link]

Computation of marginal external force space of power grasp using polyhedral convex set theory. Y. Nakamura, S. Kurushima. Journal of Robotics Society of Japan, Vol.15 No.5 pp.72-79, 1997 [Link]

The chaotic mobile robot. Y. Nakamura, A. Sekiguchi. Journal of Robotics Society of Japan, Vol.15 No.6 pp.108-116, 1997 [Link]

Nonholonomy and chaos. Y. Nakamura. Journal of Robotics Society of Japan, Vol.15 No.8 pp.26-29, 1997 [Link]

Domestic Conference

The cybernetic shoulder :a 3 dof mechanism that imitates biological shoulder-motions. M. OKADA, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Control of 3r free-joint manipulator with only one actuator --stabilization to a manifold via conservations of its averaged motion--. T. Suzuki, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Development of the chained form manipulator. W. CHUNG, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Position control of a space multi-body system by inner motion in a gravity-gradient. Y. WATANABE, R. ICHINOSE, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Study on heat transport around active forceps for laparoscopic surgery. K. OHNUMA, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Behavior expression of robot hand by combination of reactive behaviors --abstraction of skills through learning of plural motions--. N. MIZUSHIMA, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

H��Eacceleration feedback control of parallel manipulator based on experimental data. K. Yamane, M. OKADA, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Master-slave robot system for minimally invasive cardiac surgery. H. KAWAKAMI, T. NAKAMURA, Y. Nakamura. the 15th Annual Conference of the Robotics Society of Japan, 1997 [Link]

Experiments of a space robot using a drop-shaft. Y. WATANABE, Y. Nakamura. The 3rd Jc-IFToMM Symposium, 1997 [Link]

International Conference

Chaos and nonlinear control of a nonholonomic free-joint manipulator. T. Suzuki, M. Koinuma, Y. Nakamura. 1996 IEEE Int. Conf. on Robotics and Automation, 1996 [Link]

Planning spiral motion of nonholonomic space robots. T. Suzuki, Y. Nakamura. 1996 IEEE Int. Conf. on Robotics and Automation, 1996 [Link]

Domestic Journal

Mechanical analysisof grasps with defective contacts using polyhedral convex set theory. X.Y. Zhang, Y. Nakamura, K. Yoshimoto. Journal of Robotics Society of Japan, Vol.14 No.1 pp.105-113, 1996 [Link]

Chaotic behavior and nonlinear control of a two-joint planar arm with a free joint --control of nonholonomic mechanisms with drift--. Y. Nakamura, M. Koinuma, T. Suzuki. Journal of Robotics Society of Japan, Vol.14 No.4 pp.602-611, 1996 [Link]

Experimental research of a nonholonomic manipulator. Y. Nakamura, W.j. Chung, O.J. Sordalen. Journal of Robotics Society of Japan, Vol.14 No.5 pp.82-90, 1996 [Link]

Domestic Conference

Nonlinear control of nonholonomic dynamical systems --analysis of behaviors with periodic inputs using the averaging method and design of feedback control based on it--. T. Suzuki, M. Koinuma, Y. Nakamura. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Motion planning of a nonholonomic manipulator minimizing the kinematic overshoot. W. CHUNG, Y. Nakamura. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

A feedback control of a space robot using a tracking vision system --sensing of 3d motion via fusion of geometric knowledge and measurement--. Y. WATANABE, K. ARAKI, Y. Nakamura. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Research of the combination theory of simple reactive behaviors its application to reactive grasp by a multi-fingered hand--. T. YAMAZAKI, Y. Nakamura. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Development of active forceps for laparoscopic surgery. Y. Nakamura, K. OHNUMA. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Polyhedral convex analysis of marginal external force space of power grasp. Y. Nakamura, S. KURUSHIMA. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Presentation of movement parallax on a fixed display. K. YOSHIMOTO, Y. ITO. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Contorol of parallel mechanisms using dynamic compensation. N. KOMINE, A. NAJIMA, Y. Nakamura, K. YOSIMOTO. 1996 JSME Conference on Robotics and Mechatronics, 1996 [Link]

Analysis of second-order nonholonomic systems via averaging method. T. Suzuki, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Motion planning of a nonholonomic manipulator using piecewice sinusoidal inputs. W. CHUNG, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Design of a underactuated manipulator using nonholonomic constraints. W. CHUNG, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Position and orientation measurement of a space robot by the tracking vision system with geometric knowledge. Y. WATANABE, K. ARAKI, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Integration theory of robotic behaviors and its application to multifingered hands. Y. Nakamura, T. YAMAZAKI. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Attitude control of sub-satellite system with tether tension nonlinear control of an underactuated mechanism --. M. Koinuma, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

The analysis of grasping object with multi-fingered robot hand using polyhedral convex set theory and its application. Y. Nakamura, Y. Hayashi. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Shape memory alloy active forceps for minimally invasive surgery approach 1: actuating by circulation of hot and cold water--. K. OHNUMA, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

The chaotic mobile robot. A. SEKIGUCHI, Y. Nakamura. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

Development of high-precision and high-speed parallel mechanism part 3: design of dynamic controller--. Y. Nakamura, K. Yamane. the 14th Annual Conference of the Robotics Society of Japan, 1996 [Link]

International Conference

Prototyping of a nonholonomic manipulator. W.J. Chung, Y. Nakamura, O.J. Sordalen. 1995 IEEE International Conference on Robotics and Automation, 1995 [Link]

Shape-memory-alloy active forceps for laparoscopic surgery. Y. Nakamura, A.Matsui, T.Saito. 1995 IEEE International Conference on Robotics and Automation, 1995 [Link]

Spiral motion of nonholonomic space robots. T. Suzuki, Y. Nakamura. Workshop on Astrodynamics and Flight Mechanics, 1995 [Link]

Domestic Journal

An active manipulation device actuated with shape memory alloy pipes for endoscopic surgery,. Y. Nakamura, A. Matsui. Journal of Computer Aided Surgery, Vol.1 Supl. pp.72-73, 1995 [Link]

Theoretical design and nonlinear control of a nonholonomic manipulator. Y. Nakamura, O.J. Sordalen, W. Chung. Journal of Robotics Society of Japan, Vol.13 No.5, 1995 [Link]

Power grasp and evaluation of its robustness. Y. Nakamura, X.Y. Zhang, K. Yoshimoto. Journal of Robotics Society of Japan, vol.13 No.6, 1995 [Link]

Spiral motion of nonholonomic space robots. T. Suzuki, Y. Nakamura. Journal of Robotics Society of Japan, vol.13 No.7, 1995 [Link]

Domestic Conference

Control of active forceps for laparoscopic surgery. Y. Nakamura, A. MATSUI, T. SAITOU. 1995 JSME Conference on Robotics and Mechatronics, 1995 [Link]

Control of a robot hand with combination of reactive agents. Y. Nakamura, T. YAMAZAKI, Y. SUZUKI. 1995 JSME Conference on Robotics and Mechatronics, 1995 [Link]

A free-flying space robot with the center-of-mass invariance. Y. WATANABE, Y. Nakamura. 1995 JSME Conference on Robotics and Mechatronics, 1995 [Link]

Nonlinear control of nonholonomic robots with drift terms. Y. Nakamura, T. Suzuki, M. Koinuma. 1995 JSME Conference on Robotics and Mechatronics, 1995 [Link]

Chaotic behavior of nonholonomic robots with drift terms. Y. Nakamura, M. Koinuma, T. Suzuki. 1995 JSME Conference on Robotics and Mechatronics, 1995 [Link]

Kinematical and mechanical analysis of power grasps. X.-Y. Zhang, Y. Nakamura, K. Yoshimoto. 1995 JSME Conference on Robotics and Mechatronics, 1995 [Link]

Active mechanisms for laparoscopic surgery using shape-memory-alloy pipes. Y. Nakamura, A. MATSUI, K. ONUMA. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Chaos and nonlinear control of nonholonomic free joint arm. T. Suzuki, M. KOINUMA, Y. Nakamura. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Nonholonomic control of multi-link system with unactuated joints. T. Suzuki, Y. Nakamura. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Motion planning of a nonholonomic manipulator. W. CHUNG, Y. Nakamura. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

The nonlinearity of the multi-link system with free-joints. M. KOINUMA, Y. Nakamura. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Dynamic control of a parallel mechanism. N. KOMINE, Y. Nakamura, K. YOSIMOTO. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Control of a robot hand for grasp with combination of simple reactive agents. T. YAMAZAKI, Y. HAYASHI, Y. Nakamura. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Microgravity experiments of a space robot capturing a floating object. Y. WATANABE, K. ARAKI, Y. Nakamura. the 13th Annual Conference of the Robotics Society of Japan(1995), 1995 [Link]

Control of nonholonomic phenomena. T. Suzuki, M. Koinuma, Y. Nakamura. The 1st Jc-IFToMM Symposium, 1995 [Link]

Domestic Conference

Shape memory alloy active forceps for laparoscopic surgery. A. MATSUI, Y. Nakamura, T. SAITO. the 12th Annual Conference of the Robotics Society of Japan, 1994 [Link]

Optimization of spiral motion of nonholonomic space robots. T. Suzuki, Y. Nakamura. the 12th Annual Conference of the Robotics Society of Japan, 1994 [Link]

Experimental research of a nonholonomic manipulator. W. CHUNG, Y. Nakamura, O.J. S��RDALEN. the 12th Annual Conference of the Robotics Society of Japan, 1994 [Link]