Kenji Tahara

ORCID

Publication Activity (10 Years)

Years Active: 2001-2024
Publications (10 Years): 40

Top Venues

Adv. Robotics

IEEE Robotics Autom. Lett.

J. Robotics Mechatronics

AIM

Publications

Ha Thang Long Doan, Hikaru Arita, Kenji Tahara
External Sensor-less Fingertip Force/Position Estimation Framework for a Linkage-based Under-actuated Hand with Self-locking Mechanism. SII (2024)
Shunsuke Tokiwa, Hikaru Arita, Yosuke Suzuki, Kenji Tahara
Integrated Grasping Controller Leveraging Optical Proximity Sensors for Simultaneous Contact, Impact Reduction, and Force Control. CoRR (2024)
Kazuki Senda, Koichi Komada, Tetsuya Morizono, Yuki Matsutani, Kenji Tahara, Hitoshi Kino
Proposal of Feedforward Trajectory Control with Iterative Learning for a Musculoskeletal System. AMC (2024)
Sumitaka Honji, Hikaru Arita, Kenji Tahara
State Estimation of a Soft Robotic Finger with Dynamic Effect of Parameter Uncertainty. RoboSoft (2024)
Sumitaka Honji, Hikaru Arita, Kenji Tahara
Stochastic Approach for Modeling a Soft Robotic Finger with Creep Behavior. CoRR (2023)
Hikaru Arita, Hayato Nakamura, Takuto Fujiki, Kenji Tahara
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control. IEEE Trans. Robotics 39 (5) (2023)
Ha Thang Long Doan, Hikaru Arita, Kenji Tahara
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 Mechanism. IROS (2023)
Gentiane Venture, Kenji Tahara, Natsuki Yamanobe, Shingo Shimoda, Masahiro Shiomi
Special issue on robot and human interactive communication 2023 (selected papers from RO-MAN 2022). Adv. Robotics 37 (24) (2023)
Shoki Tsuboi, Hikaru Arita, Hitoshi Kino, Kenji Tahara
Variable end-point viscoelasticity control for a musculoskeletal redundant arm. Adv. Robotics 37 (17) (2023)
Sumitaka Honji, Hikaru Arita, Kenji Tahara
Stochastic approach for modeling soft fingers with creep behavior. Adv. Robotics 37 (22) (2023)
Ha Thang Long Doan, Kenji Tahara
Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand. SII (2023)
Hiroaki Ochi, Koichi Komada, Kenji Tahara, Hitoshi Kino
Convergent Conditions of Feedforward Control for Musculoskeletal Systems with Multi 1-DOF Joints Driven by Monoarticular and Biarticular Muscles. J. Robotics Mechatronics 35 (3) (2023)
Shoki Tsuboi, Hitoshi Kino, Kenji Tahara
End-Point Stiffness and Joint Viscosity Control of Musculoskeletal Robotic Arm Using Muscle Redundancy. IROS (2022)
Hikaru Arita, Hayato Nakamura, Takuto Fujiki, Kenji Tahara
Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control. CoRR (2022)
Ken Masuya, Kentaro Takagi, Kenji Tahara
Wire-Storage Pantograph Mechanism for Strain and Force Amplification of a Twisted and Coiled Polymer Fiber. IEEE Robotics Autom. Lett. 7 (4) (2022)
Takuto Fujiki, Kenji Tahara
Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers. ICRA (2021)
Yuki Matsutani, Kenji Tahara, Hitoshi Kino
Simulation Evaluation for Methods Used to Determine Muscular Internal Force Based on Joint Stiffness Using Muscular Internal Force Feedforward Controller for Musculoskeletal System. Frontiers Robotics AI 8 (2021)
Ken Masuya, Kenji Tahara
Novel Twisted and Coiled Polymer Fiber Actuator Fabricated From Polymer-Coated Optical Fiber. IEEE Robotics Autom. Lett. 6 (3) (2021)
Hitoshi Kino, Hiroaki Ochi, Kenji Tahara
Optimal Muscular Arrangement Using Genetic Algorithm for Musculoskeletal Potential Method with Muscle Viscosity. J. Robotics Mechatronics 33 (3) (2021)
Ken Masuya, Kenji Tahara
Model-based control of a novel planar tendon-driven joint having a soft rolling constraint on a plane. AIM (2020)
Sumitaka Honji, Kenji Tahara
Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper. RoboSoft (2020)
Seunghyun Choi, Kenji Tahara
Development of a Visual-Tactile Fingertip Sensor and an Object Manipulation Method using a Multi-Fingered Robotic Hand. SII (2020)
Yuki Matsutani, Kenji Tahara, Hitoshi Kino
Set-Point Control of a Musculoskeletal System Under Gravity by a Combination of Feed-Forward and Feedback Manners Considering Output Limitation of Muscular Forces. J. Robotics Mechatronics 31 (4) (2019)
Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
Choice of Muscular Forces for Motion Control of a Robot Arm with Biarticular Muscles. J. Robotics Mechatronics 31 (1) (2019)
Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Rui Fujino, Takuma Yamauchi, Eitaro Tanaka, Kenji Tahara
Rotational Angle Trajectory Tracking of a Twisted Polymeric Fiber Actuator by the Combination of a Model-Based Feed-Forward and Estimated Temperature Feedback. IEEE Robotics Autom. Lett. 4 (3) (2019)
Kenji Tahara, Ryo Hayashi, Ken Masuya, Kentaro Takagi, Toshihira Irisawa, Takuma Yamauchi, Eitaro Tanaka
Rotational Angle Control of a Twisted Polymeric Fiber Actuator by an Estimated Temperature Feedback. IEEE Robotics Autom. Lett. 4 (3) (2019)
Hitoshi Kino, Naofumi Mori, Shota Moribe, Kazuyuki Tsuda, Kenji Tahara
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire. J. Robotics Mechatronics 31 (4) (2019)
Efi Psomopoulou, Daiki Karashima, Zoe Doulgeri, Kenji Tahara
Stable pinching by controlling finger relative orientation of robotic fingers with rolling soft tips. Robotica 36 (2) (2018)
Hitoshi Kino, T. Yoshitake, R. Wada, Kenji Tahara, Kenta Tsuda
3-DOF planar parallel-wire driven robot with an active balancer and its model-based adaptive control. Adv. Robotics 32 (14) (2018)
Ken Masuya, Shu Ono, Kentaro Takagi, Kenji Tahara
Feedforward Control of Twisted and Coiled Polymer Actuator Based on a Macroscopic Nonlinear Model Focusing on Energy. IEEE Robotics Autom. Lett. 3 (3) (2018)
Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi
Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay. Adv. Robotics 32 (8) (2018)
Shu Ono, Ken Masuya, Kentaro Takagi, Kenji Tahara
Trajectory tracking of a one-DOF manipulator using multiple fishing line actuators by iterative learning control. RoboSoft (2018)
Hiroki Kubota, Kenji Tahara
Two-types Force Controllers for a Prismatic Actuation Module Redundantly Driven by Multiple Sheet-type Dielectric Elastomer Actuators. AIM (2018)
Miao Li, Kenji Tahara, Aude Billard
Learning task manifolds for constrained object manipulation. Auton. Robots 42 (1) (2018)
Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
A study on effect of biarticular muscles in an antagonistically actuated robot arm through numerical simulations. Artif. Life Robotics 22 (1) (2017)
Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi
Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms. Humanoids (2017)
Ken Masuya, Shu Ono, Kentaro Takagi, Kenji Tahara
Nonlinear dynamics of twisted and coiled polymer actuator made of conductive nylon based on the energy balance. AIM (2017)
Hitoshi Kino, Hiroaki Ochi, Yuki Matsutani, Kenji Tahara
Sensorless point-to-point control for a musculoskeletal tendon-driven manipulator: analysis of a two-DOF planar system with six tendons. Adv. Robotics 31 (16) (2017)
Ryuta Ozawa, Kenji Tahara
Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point. Adv. Robotics 31 (19-20) (2017)
Kenji Tahara, Yuki Matsutani, Daisuke Nakagawa, Masataka Sato, Hitoshi Kino
Variable combination of feed-forward and feedback manners for set-point control of a musculoskeletal arm considering the maximum exertable muscular force. IECON (2016)
Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, Ken'ichi Morooka, Ryo Kurazume
Grasp stability evaluation based on energy tolerance in potential field. IROS (2015)
Tetsuya Morizono, Kenji Tahara, Hitoshi Kino
Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces. IECON (2015)
Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani
Geometrie conditions for feedforward positioning of musculoskeletal tendon-driven structure. IECON (2015)
Tomofumi Okada, Kenji Tahara
Development of a two-link planar manipulator with continuously variable transmission mechanism. AIM (2014)
Ryota Ishibashi, Hiroaki Ochi, Takahiko Oda, Ryuji Okuda, Katsuya Umeda, Kenji Tahara, Hitoshi Kino, Akira Kojima
A proposal of a SMA actuated wing mechanism using flexible structure for the capability of various flow speeds. ROBIO (2014)
Miao Li, Hang Yin, Kenji Tahara, Aude Billard
Learning object-level impedance control for robust grasping and dexterous manipulation. ICRA (2014)
Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi, Motoji Yamamoto
Set-point control of a musculoskeletal arm by the complementary combination of a feedforward and feedback manner. ICRA (2014)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Dynamic grasping of an arbitrary polyhedral object. Robotica 31 (4) (2013)
Yuki Matsutani, Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Motoji Yamamoto
Feed-forward positioning of musculoskeletal-like robotic systems with muscular viscosity: Determination of an adequate internal force. ARSO (2013)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Robust Visual Servoing for Object Manipulation Against Temporary Loss of Sensory Information Using a Multi-Fingered Hand-Arm. J. Robotics Mechatronics 25 (1) (2013)
Hitoshi Kino, Hiroaki Ochi, Kenji Tahara, Yuki Matsutani, Ryota Ishibashi
Study of human motion generation based on redundancy of musculoskeletal structure: Analysis of potential generated by internal force for two-link system. ARSO (2013)
Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara
Sensibility to Muscular Arrangement of Feedforward Position Control for Non-Pulley-Musculoskeletal System. ITCS (2013)
Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara, Takahiro Nishiyama
Numerical analysis of feedforward position control for non-pulley musculoskeletal system: a case study of muscular arrangements of a two-link planar system with six muscles. Adv. Robotics 27 (16) (2013)
Kenji Tahara, Keigo Maruta, Akihiro Kawamura, Motoji Yamamoto
Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints. ICRA (2012)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Robust visual servoing for object manipulation with large time-delays of visual information. IROS (2012)
Kenji Tahara, Yuta Kuboyama, Ryo Kurazume
Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness. IROS (2012)
Kenji Tahara, Keigo Maruta, Motoji Yamamoto
Alternative dexterous object manipulation using torsional fingertip joints of multifingered hand. MHS (2011)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system. IROS (2011)
Kenji Tahara, Suguru Arimoto
Iterative learning scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface. ICRA (2011)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Dynamic object manipulation using a multi-fingered hand-arm system: Enhancement of a grasping capability using relative attitude constraints of fingers. ICAR (2011)
Kenji Tahara, Shingo Iwasa, Shu Naba, Motoji Yamamoto
High-backdrivable parallel-link manipulator with continuously variable transmission. IROS (2011)
Kenji Tahara, Suguru Arimoto, Ryuta Ozawa, Zhi Wei Luo
Biomimetic Pinching Movements of a Musculo-Skeletal Dual-Finger Model. Adv. Robotics 25 (1-2) (2011)
Kenji Tahara, Keigo Maruta, Motoji Yamamoto
External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion. ICRA (2010)
Kenji Tahara, Suguru Arimoto, Morio Yoshida
Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand. ICRA (2010)
Kazuya Matsuo, Kouji Murakami, Katsuya Niwaki, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume
A tactile sensing for estimating the position and orientation of a joint-axis of a linked object. IROS (2010)
Kenji Tahara, Hitoshi Kino
Reaching Movements of a Redundant Musculoskeletal Arm: Acquisition of an Adequate Internal Force by Iterative Learning and Its Evaluation through a Dynamic Damping Ellipsoid. Adv. Robotics 24 (5-6) (2010)
Hitoshi Kino, Shiro Kikuchi, Kenji Tahara
Decision Method of Internal Force for Sensorless Positioning of Musculoskeletal System. BWCCA (2010)
Suguru Arimoto, Masahiro Sekimoto, Kenji Tahara
Iterative Learning without Reinforcement or Reward for Multijoint Movements: A Revisit of Bernstein's DOF Problem on Dexterity. J. Robotics 2010 (2010)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Sensory feedback attitude control for a grasped object by a multi-fingered hand-arm system. ROBIO (2010)
Kenji Tahara, Hitoshi Kino
Iterative Learning Scheme for a Redundant Musculoskeletal Arm: Task Space Learning with Joint and Muscle Redundancies. BWCCA (2010)
Kenji Tahara, Hitoshi Kino
Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force. IROS (2010)
Morio Yoshida, Suguru Arimoto, Kenji Tahara
Modeling and control of a pair of robot fingers with saddle joint under orderless actuations. ICRA (2009)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system. IROS (2009)
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume
Measurement of static constraints imposed by a human hand on a grasped object. ICAR (2009)
Morio Yoshida, Suguru Arimoto, Kenji Tahara
Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints. IROS (2009)
Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara, Ji-Hun Bae
Modeling and Control for 2-D Grasping of an Object with Arbitrary Shape under Rolling Contact. SyRoCo (2009)
Hitoshi Kino, Shiro Kikuchi, Toshiaki Yahiro, Kenji Tahara
Basic study of biarticular muscle's effect on muscular internal force control based on physiological hypotheses. ICRA (2009)
Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume
Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object. IROS (2009)
Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa
Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands. ICAR (2009)
Hitoshi Kino, Toshiaki Yahiro, Shohei Taniguchi, Kenji Tahara
Sensorless Position Control Using Feedforward Internal Force for Completely Restrained Parallel-Wire-Driven Systems. IEEE Trans. Robotics 25 (2) (2009)
Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara
A Riemannian-Geometry Approach for Modeling and Control of Dynamics of Object Manipulation under Constraints. J. Robotics 2009 (2009)
Suguru Arimoto, Morio Yoshida, Masahiro Sekimoto, Kenji Tahara
A riemannian-geometry approach for dynamics and control of object manipulation under constraints. ICRA (2009)
Kenji Tahara, Suguru Arimoto, Morio Yoshida
Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system. IROS (2009)
Kenji Tahara, Suguru Arimoto, Morio Yoshida
Dynamic object grasping by a triple-fingered robotic hand. IROS (2008)
Kenji Tahara, Suguru Arimoto, Masahiro Sekimoto, Morio Yoshida, Zhi Wei Luo
On iterative learning control for simultaneous force/position trajectory tracking by using a 5 D.O.F. robotic thumb under non-holonomic rolling constraints. ICRA (2008)
Kenji Tahara, Suguru Arimoto, Zhi Wei Luo, Morio Yoshida
On Control for "Blind Touching" by Human-Like Thumb Robots. ICRA (2007)
Masaki Onishi, Zhi Wei Luo, Tadashi Odashima, Shinya Hirano, Kenji Tahara, Toshiharu Mukai
Generation of Human Care Behaviors by Human-Interactive Robot RI-MAN. ICRA (2007)
Kenji Tahara, Zhi Wei Luo, Suguru Arimoto
On Control Mechanism of Human-Like Reaching Movements with Musculo-Skeletal Redundancy. IROS (2006)
Kenji Tahara, Zhi Wei Luo, Ryuta Ozawa, Ji-Hun Bae, Suguru Arimoto
Bio-mimetic Study on Pinching Motions of a Dual-finger Model with Synergistic Actuation of Antagonist Muscles. ICRA (2006)
Tadashi Odashima, Masaki Onishi, Kenji Tahara, Kentaro Takagi, Fumihiko Asano, Yo Kato, Hiromichi Nakashima, Yuichi Kobayashi, Toshiharu Mukai, Zhi Wei Luo, Shigeyuki Hosoe
A Soft Human-Interactive Robot RI-MAN. IROS (2006)
Kenji Tahara, Zhi Wei Luo, Suguru Arimoto, Hitoshi Kino
Sensory-motor control of a muscle redundant arm for reaching movements - convergence analysis and gravity compensation. IROS (2005)
Kenji Tahara, Zhi Wei Luo, Suguru Arimoto, Hitoshi Kino
Task-space Feedback Control for A Two-link Arm Driven by Six Muscles with Variable Damping and Elastic Properties. ICRA (2005)
Kenji Tahara, Zhi Wei Luo, Suguru Arimoto, Hitoshi Kino
Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm. J. Field Robotics 22 (11) (2005)
Fumihiko Asano, Zhi Wei Luo, Kenji Tahara, Masaki Yamakita, Shigeyuki Hosoe
Modeling and control for whole arm dynamic cooperative manipulation. IROS (2004)
Fumihiko Asano, Zhi Wei Luo, Masaki Yamakita, Kenji Tahara, Shigeyuki Hosoe
Bio-mimetic control for whole arm cooperative manipulation. SMC (1) (2004)
Shinsuke Nakamura, Kenji Tahara, Ji-Hun Bae, Masahiro Sekimoto, Suguru Arimoto
Experiments of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers. CIRA (2003)
Ji-Hun Bae, Kenji Tahara, Shinsuke Nakamura, Suguru Arimoto
Computer simulation of grasping and object-manipulation by a pair of multi-degrees of freedom robot fingers. CIRA (2003)
Suguru Arimoto, Kenji Tahara, Ji-Hun Bae, Morio Yoshida
A stability theory of a manifold: concurrent realization of grasp and orientation control of an object by a pair of robot fingers. Robotica 21 (2) (2003)
Suguru Arimoto, Morio Yoshida, Ji-Hun Bae, Kenji Tahara
Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensory-motor coordination. J. Field Robotics 20 (9) (2003)
Suguru Arimoto, Ji-Hun Bae, Kenji Tahara
Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers. ICRA (2003)

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Publication Activity (10 Years)

Top Topics

Top Venues

Kenji Tahara