Conference Papers

Conference Papers with Reviews:

[A-2-1]         H. Hanafusa, T. Yoshikawa and Y. Nakamura, “Analysis and Control of Articulated Robot Arms with Redundancy,” in Control Science and Technology for the Progress of Society (Proc. the 8th Triennial World Congress of IFAC, Kyoto, Japan, 1981), Ed. H. Akashi, Vol.4, pp.1927-1932, Pargamon Press, 1981.

[A-2-2]          H. Hanafusa, T. Yoshikawa, Y. Nakamura and M. Takeda, “Contouring Control of an Articulated Robot Arm with Manipulation Variable Feedback,” Proc. 11th International Symposium on Industrial Robots, Tokyo Japan, pp.429-436, 1981.

[A-2-3]          H. Hanafusa, T. Yoshikawa and Y. Nakamura, “Design and Control of Additional Wrist Mechanism for Fine Motion Control of Manipulators,” Proc. IFAC Symposium on Components and Instrument for Distributed Control Systems, Paris, France, pp.133-139, 1982.

[A-2-4]          Y. Nakamura and H. Hanafusa, “A New Optical Proximity Sensor for Three Dimensional Autonomous Trajectory Control of Robot Manipulators,” Proc. International Conference on Advanced Robots, Tokyo, Japan, pp.179-186, 1983.

[A-2-5]          H. Hanafusa and Y. Nakamura, “Autonomous Trajectory Control of Robot Manipulators,” Robotics Research, The First International Symposium, Eds. R.P. Paul and M. Brady, MIT Press, pp.863-871, 1984.

[A-2-6]          Y. Nakamura and H. Hanafusa, “Task Priority based Redundancy Control of Robot Manipulators,” in Robotics Research, The Second International Symposium, Eds. H. Hanafusa and H. Inoue, MIT Press, pp.155-162, 1985.

[A-2-7]          Y. Nakamura, H. Hanafusa and N. Ueno, “Piezoelectric Film Sensor with Uniformly Expanded Surface to Detect Tactile Information for Robotic Endeffectors,” Proc. ’85 International Conference on Advanced Robots, Tokyo, Japan, pp.137-144, 1985.

[A-2-8]          H. Hanafusa, Y. Yoshikawa, Y. Nakamura and K. Nagai, “Structural Analysis and Robust Prehension of Robotic Hand-Arm System,” Proc. ’85 International Conference on Advanced Robots, Tokyo, Japan, pp.311-318, 1985.

[A-2-9]          Y. Nakamura, H. Hanafusa, Y. Yokokohji and T. Yoshikawa, “Efficient Computation and Kinematic Representation for Robot Manipulator Simulation,” Proc. 15th International Symposium on Industrial Robots, Tokyo, Japan, pp.1059-1066, 1985.

[A-2-10]        Y. Nakamura and H. Hanafusa, “Inverse Kinematic Solutions with Singularity Robustness for Robot Manipulator Control,” Robotics and Manufacturing Automation-PED-, Vol. 15 (ASME Book No. G00321), ed. M. Donath and M. Leu, pp.193-204, ASME Winter Annual Meeting, Miami Beach, 1985.

[A-2-11]        Y. Nakamura, Y. Yokokohji, H. Hanafusa and T. Yoshikawa, “Unified Recursive Formulation of Kinematics and Dynamics of Robot Manipulators,” Proc. Japan-U.S.A. Symposium on Flexible Automation, Osaka, Japan, pp.53-60, 1986.

[A-2-12]        Y. Nakamura, K. Nagai and T. Yoshikawa, “Mechanics of Coordinative Manipulation by Multiple Robotic Mechanisms,” Proc. 1987 IEEE International Conference on Robotics and Automation, pp.991-998, 1987.

[A-2-13]        Y. Nakamura, “Force Applicability of Robotic Mechanisms,” The 26th IEEE Conference on Decision and Control, Los Angeles, pp.570-575, 1987.

[A-2-14]        Y. Nakamura, T. Yoshikawa and I. Futamata, “Design and Signal Processing of Six-Axis Force Sensors,” in Robotics Research,The Fourth International Symposium , Eds. R. Bolles and B. Roth, MIT Press, pp.75-81, 1987.

[A-2-15]        Y. Nakamura and M. Ghodoussi, “A Computational Scheme of Closed Link Robot Dynamics Derived by d’Alembert’s Principle,” Proc. 1988 IEEE International Conference on Robotics and Automation, Philadelphia, April, pp.1354-1360, 1988.

[A-2-16]        Y. Nakamura, “Contact Stability Measure and Optimal Finger Force Control of Multi-Fingered Robot Hands,” 1988 U.S.A.-Japan Symposium on Flexible Automation, Minneapolis, pp.523-528, July 1988.

[A-2-17]        Y. Nakamura, “Minimizing Object Strain Energy for Coordination of Multiple Robotic Mechanisms,” 1988 American Control Conference, Atlanta, pp.499-504, June 1988.

[A-2-18]        Y. Nakamura, “Dynamics of Closed Link Robots with Actuational Redundancy,” Proc. Second International Symposium on Robotics and Manufacturing Research, Education and Applications, Albuquerque, New Mexico, November, pp.309-318, 1988.

[A-2-19]        Y. Nakamura and R. Mukherjee, “Redundancy of Space Manipulator on Free-Flying Vehicle and its Nonholonomic Path Planning,” Proc. NASA Conference on Space Telerobotics, Pasadena, January 31-February 2, Vol. III, pp.181-190, 1989.

[A-2-20]        Y. Nakamura and Y Xu “Geometrical Fusion Method for Multi-Sensor Robotic Systems,”, Proc. 1989 IEEE International Conference on Robotics and Automation, Scottsdale, May, pp.668-673, 1989.

[A-2-21]        Y. Nakamura and R. Mukherjee, “Nonholonomic Path Planning of Space Robots,” Proc. 1989 IEEE International Conference on Robotics and Automation, Scottsdale, May, pp.1050-1055, 1989.

[A-2-22]        M. Tsuda, Y. Nakamura, and T. Higuchi, “High-Speed Digital Controller for Magnetic Servo Levitation of Robot Mechanisms,” 1st International Symposium on Experimental Robotics (Experimental Robotics I, Lecture Notes in Control and Information Sciences Vol. 139, Eds. V. Hayward and O. Khatib, Springer-Verlag, pp.229-243), Montreal, June, 1989.

[A-2-23]       M. Tsuda, Y. Nakamura, and T. Higuchi, “Design and Control of Magnetic Servo Levitation,” Proc. 20th International Symposium on Industrial Robots, Tokyo, October, pp.693-700 1989.

[A-2-24]        Y. Nakamura and T. Ropponen, “Closed Link Manipulator with Kinematic and Actuation Redundancies,” Robotics Research – 1989 (presented at 1989 ASME Winter Annual Meeting, San Francisco, December, 1989), edited by K. Youcef-Toumi and H. Kazerooni, ASME, pp.203-210, 1989.

[A-2-25]        Y. Nakamura and R. Mukherjee, “Bi-Directional Approach for Nonholonomic Path Planning of Space Robots,” in Robotics Research, The Fifth International Symposium, Eds. H. Miura ans S. Arimoto, MIT Press, pp.405-416, 1990.

[A-2-26]        Y. Nakamura and R. Mukherjee, “Nonholonomic Path Planning of Space Robots via Bi-Directional Approach,” Proc.1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May, pp.1764-1769, 1990.

[A-2-27]        T. Ropponen and Y. Nakamura, “Singularity-Free Parameterization and Performance Analysis of Actuation Redundancy,” Proc. 1990 IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May, pp.806-811, 1990.

[A-2-28]        Y. Nakamura and T. Ropponen, “Dynamic Payload Maximization of a Closed Link Robot with Actuation Redundancy,” Proc. 1990 Japan-U.S.A. Symposium on Flexible Automation, Kyoto, Japan, July, pp.321-328, 1990.

[A-2-29]       Y. Nakamura, and T. Higuchi, “Adaptive Control for Magnetic Servo Levitation without Velocity Measurement,” M. Tsuda, Proc. 1990 Japan-U.S.A. Symposium on Flexible Automation, Kyoto, Japan, July, pp.609-616, 1990.

[A-2-30]        Y. Nakamura and T. Ropponen, “Actuation Redundancy of a Closed Link Manipulator,” Proc. 1990 American Control Conference, San Diego, May, pp.2294-2299, 1990.

[A-2-31]        M. Ghodoussi and Y. Nakamura, “Dynamic Parameter Analysis of Open and Closed Kinematic Chains Using The Covariance Matrix of Nonlinearity,” Proc. International Conference on Control and Modeling, Tehran, Iran, July, pp.488-494, 1990.

[A-2-32]        R. Mukherjee and Y. Nakamura, “Space Robot Dynamics and its Efficient Computation,” Proc. International Symposium on Artificial Intelligence, Robotics, and Automation in Space, Kobe, Japan, November, 1990.

[A-2-33]        T. Ropponen and Y. Nakamura, “Performance Analysis of Kinematic and Actuation Redundancy in a Closed Link Manipulator,” Proc. Second International Workshop on Advances in Robot Kinematics, Linz, Austria, 1990.

[A-2-34]        Y. Nakamura and R. Mukherjee, “Nonlinear Control for the Nonholonomic Motion of Space Robot Systems,” Proc. International Workshop on Nonlinear and Adaptive Control : Issues in Robotics, Grenoble, France, pp.83-105, 1990.

[A-2-35]        T. Kokkinis, Y. Nakamura, D. Uecker, and Y. Wang, “Dynamic Considerations and Motion Control Experiments for a Parallel Direct-Drive Robot Arm,” Proc. Fifth International Conference on Advanced Robotics, Pisa, Italy, 1991.

[A-2-36]       M. Ghodoussi and Y. Nakamura, “Principal Base Parameters of Open and Closed Kinematic Chains,” Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, April, pp.84-89, 1991.

[A-2-37]       Y. Nakamura, Y. Kimura and G. Arora, “Optimal Use of Nonlinear Electromagnetic Force for Micro Motion Wrist,” Proc. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, April, pp.1040-1045, 1991.

[A-2-38]        R. Mukherjee and Y. Nakamura, “Nonholonomic Redundancy of Space Robots and its Utilization via Hierarchical Liapunov Functions,” Proc. 1991 American Control Conference, Boston, MA, June, pp.1491-1496, 1991.

[A-2-39]        G. Oriolo and Y. Nakamura, “Free-Joint Manipulators: Motion Control under Second-Order Nonholonomic Constraints,” Proc. 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, November, pp.1248-1253, 1991.

[A-2-40]        Y. Nakamura and S. Savant, “Nonholonomic Motion Control of an Autonomous Underwater Vehicle,” Proc. 1991 IEEE/RSJ International Workshop on Intelligent Robots and Systems, Osaka, Japan, November, pp.1254-1259, 1991.

[A-2-41]        G. Oriolo and Y. Nakamura, “Control of Mechanical Systems with Second-Order Nonholonomic Constraints: Underactuated Manipulators,” Proc. Conference on Decision and Control, Brighton, UK, 1991.

[A-2-42]        R. Mukherjee and Y. Nakamura, “An Efficient Algorithm for the Inverse Dynamics Computation of Space Manipulators,” Proc. 1992 IEEE International Conference on Robotics and Automation, Nice, France, May, pp.A4-A9, 1992.

[A-2-43]        Y. Nakamura and S. Savant, “Nonlinear Tracking Control of Autonomous Underwater Vehicles,” Proc. 1992 IEEE International Conference on Robotics and Automation, Nice, France, May, pp.560-565, 1992.

[A-2-44]        Y. Nakamura and S. Ito, “Lowering Energy Consumption of Space Robot Systems through Kinetic Energy Conservation,” Proc. 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, May, pp.1019-1026, 1993.

[A-2-45]        Y. Nakamura and R. Iwamoto, “Stabilization of the Shape of Space Multibody Structure with Free Joints,” Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2095-2101, Yokohama, Japan, 1993.

[A-2-46]        Y. Nakamura, “Integrability of Dynamic Constraints of Underactuated Mechanisms,” Prep. 6th International Symposium of Robotics Research, Hidden Valley, PA, October, 1993.

[A-2-47]        Y. Nakamura and R. Iwamoto, “Space Multibody Structure Connected with Free Joints and Its Shape Control,” Proc. IEEE Conference on Decision and Control, San Antonio, TX, December, pp.3126-3131, 1993.

[A-2-48]        O.J. Sørdalen, Y. Nakamura and W.J. Chung, “Design of a Nonholonomic Manipulator,” Proc. IEEE International Conference on Robotics and Automation, San Diego, May, CA, pp.8-13, 1994.

[A-2-49]        X-Y. Zhang, Y. Nakamura, K. Goda and K. Yoshimoto, “Robustness of Power Grasp,” Proc. IEEE International Conference on Robotics and Automation, San Diego, May, CA, pp.2828-2835, 1994.

[A-2-50]        O.J. Sørdalen, Y. Nakamura and W.J. Chung, “Control of A Nonholonomic Manipulator,” Proc. IFAC Symposium of Robot Control, Capri, Italy, September, pp.279-284, 1994.

[A-2-51]        Y. Nakamura and R. Iwamoto, “Control of Under-Actuated Link Structure in Space,” Proc. Fifth International Conference on Adaptive Structures, Sendai, Japan, December, pp.481-490, 1994.

[A-2-52]        W.J. Chung, Y. Nakamura and O.J. Sørdalen, “Prototyping a Nonholonomic Manipulator, “ Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, April, pp.2029-2036, 1995.

[A-2-53]        Y. Nakamura, A. Matsui, T. Saito and K. Yoshimoto, “Shape-Memory-Alloy Active Forceps for Laparoscopic Surgery,” Proc. IEEE International Conference on Robotics and Automation, Nagoya, Japan, April, pp.2320-2327, 1995.

[A-2-54]       Y. Nakamura and A. Matsui, “An Active Manipulation Device Actuated with Shape Memory Alloy Pipes,” Proc. Second International Symposium on Computer Aided Surgery, Tokyo, Japan, Vol. 1, pp.72-73, 1995.

[A-2-55]       W.J. Chung, Y. Nakamura and O.J. Sørdalen, “Experimental Research of a Nonholonomic Manipulator,” Prep. Fourth International Symposium on Experimental Robotics, Stanford, CA, June, pp.284-289, 1995.

[A-2-56]        Y. Nakamura, T. Suzuki and M. Koinuma, “Nonlinear Behavior and Control of Underactuated Robotic Mechanisms,” Proc. Seventh International Symposium of Robotics Research, Munich, Germany, October, 1995. (“Robotics Research: The Seventh International Symposium,” Eds. G. Giralt and G. Hirzinger, Springer-Verlag, pp. 67-77, 1996.)

[A-2-57]        O.J. Sørdalen, Y. Nakamura and W.J. Chung, “Path Planning and Stabilization of a Nonholonomic Manipulator,” Proc. European Control Conference, 1995.

[A-2-58]        O.J. Sørdalen, Y. Nakamura and W.J. Chung, “Application of Nonholonomic Constraints in Design of Controllable Mechanisms,” Proc. European Control Conference, 1995.

[A-2-59]        T. Suzuki and Y. Nakamura, “Planning Spiral Motion of Nonholonomic Space Robots,” Proc. IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April, pp.718-725, 1996.

[A-2-60]        T. Suzuki, M. Koinuma and Y. Nakamura, “Chaos and Nonlinear Control of a Nonholonomic Free-Joint Manipulator,” Proc. IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April, pp.2668-2675, 1996.

[A-2-61]        K. Yamauchi and Y. Nakamura, “Active Forceps Using Ti-Ni Shape Memory Alloy Tube,” Proc. International Conference on Displacive Phase Transformation and Their Applications to Materials Engineering, Urbana, Illinois, May, 1996.

[A-2-62]        Y. Nakamura, T. Yamazaki, and N. Mizushima, “Motion Synthesis, Learning and Abstraction through Parametrized Smooth Map from Sensors to Behaviors,” Robotics Reseach -the 8th International Symposium, Yoshiaki Shirai and Shigeo Hirose (Eds), Springer, pp.69-80, 1997.

[A-2-63]        T. Suzuki and Y. Nakamura, “Control of Manipulators with Free-Joints via the Averaging Method,” Proc.1997 IEEE International Conference on Robotics and Automation, Albuquerque, pp.2998-3005, 1997.

[A-2-64]        W. Chung and Y. Nakamura, “Design of the Chained Form Manipulator,” Proc.1997 IEEE International Conference on Robotics and Automation, Albuquerque, pp.455-461, 1997.

[A-2-65]        Y. Nakamura and K. Onuma, “Active Forceps for Endoscopic Surgery,” Prep. of 5th International Symposium on Experimental Robotics, Barcelona, Catalonia, 1997.

[A-2-66]        Y. Nakamura and K. Yamane, “Cartesian Feedback Control of Parallel Mechanism via Parallel Processing,” Proc. of 2nd Asian Control Conference, Vol.3, Korea,pp.595-598, 1997.

[A-2-67]        T. Suzuki and Y. Nakamura “Analysis and Control of Underactuated Mechanisms via the Averaging Method,”, Proc. of 2nd Asian Control Conference, Vol.1, Korea, pp.273-276, 1997.

[A-2-68]        W. Chung and Y. Nakamura, “The Nonholonomic Manipulator -Motion Planning and Feedback Control towards Practical Applications-,” Proc. of 2nd Asian Control Conference, Vol.1, Korea, pp.601-604, 1997.

[A-2-69]        K. Yamane, M. Okada, N. Komine, and Y. Nakamura, “Parallel Dynamics Computation and H∞Acceleration Control of Parallel Manipulators for Acceleration Display,” Proc. of IEEE International Conference on Robotics and Automation, Leuven, Belgium, Vol.3, pp.2301-2308, 1998.

[A-2-70]        Y. Watanabe and Y. Nakamura, “Orbit Control for a Spacecraft via the Gravity Gradient Force,” Proc. of 49th International Astronautical Congress, IAF-98-A.2.08, Melbourne, Australia, 1998.

[A-2-71]        Y. Watanabe and Y.Nakamura, “A Space Robot of the Center-of-Mass Invariant Structure,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, Vol.2, pp.1370-1375, 1998.

[A-2-72]        Y. Watanabe, K. Araki, and Y. Nakamura, “Microgravity Experiments for a Visual Feedback Control of a Space Robot Capturing a Target,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Victoria, Canada, Vol.3, pp.1993-1998, 1998.

[A-2-73]        Y. Nakamura and K. Yamane, “Seamless Dynamics Computation of Structure-Varying Closed Kinematic Chains and Its Application to Human Figures Interacting with Environments,” Proc. of 1st International Workshop on Humanoid and Human Friendly Robotics, V-3, Tsukuba, Japan, 1998.

[A-2-74]        M. Okada, Y. Nakamura and K. Yoshimoto, “Development of Cybernetic Shoulder: A Three DOF Mechanism that Imitates Biological Shoulder-Motions,” Proc. of 2nd China-Japan Bilateral Symposium on Advanced Manufacturing Engineering, pp.196-201, Yellow Mountain City, China, 1998.

[A-2-75]        A. DasGupta, Y. Nakamura and K. Yoshimoto, “Analysis and synthesis of motion for a humanoid robot using human motion data,” Proc. of 2nd China-Japan Bilateral Symposium on Advanced Manufacturing Engineering, pp.180-185, Yellow Mountain City, China, 1998.

[A-2-76]        A. Sekiguchi, Y. Nakamura and K. Yoshimoto, “Intelligent Mobile Robot with Chaotic Information Processing,” Proc. of 2nd China-Japan Bilateral Symposium on Advanced Manufacturing Engineering, pp.190-195, Yellow Mountain City, China, 1998.

[A-2-77]        T. Suzuki, and Y. Nakamura, “Control of 2R Free-Joint Manipulators via the Averaging Method,” Proc. of International Conference on Advanced Mechanisms, pp.157-162, Okayama, Japan, 1998.

[A-2-78]        T. Suzuki, W. Miyoshi, and Y. Nakamura, “Control of 2R Underactuated Manipulator with Friction,” Proc. of 37th IEEE Conference on Decision and Control, pp.2007-2012, Tampa, Florida, USA, 1998.

[A-2-79]        Y. Nakamura, M. Okada and S. Hoshino, “Development of the Torso Robot―Design of the New Shoulder Mechanism ‘Cybernetic shoulder’―,” Preprints of 6th International Symposium of Experimental Robotics, pp.452-461, Sydney, Australia, March, 1999.

[A-2-80]        Y. Nakamura, K. Yamane, F. Nagashima, H. Hirukawa, “Development of Humanoid Simulator as an Efficient R&D Platform,” Proc. of International Symposium on Robotics Research, 1999.

[A-2-81]        K. Yamane and Y. Nakamura, “Dynamics Computation of Structure-Varying Kinematic Chains for Motion Synthesis of Humanoid,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.714-721, Detroit, Michigan, May, 1999.

[A-2-82]        A. Dasgupta and Y. Nakamura, “Making Feasible Walking Motion of Humanoid Robots From Human Motion Capture Data,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1044-1049, Detroit, Michigan, May, 1999.

[A-2-83]        N. Mizushima, T. Yamazaki and Y. Nakamura, “Synthesis, Learning and Abstraction of through Parameterized Smooth Map from Behaviors to Skills Sensors,” Proc. of IEEE International Conference on Robotics and Automation, Vol.3, pp.2398-2405, Detroit, Michigan, May, 1999.

[A-2-84]        M. Okada, Y. Nakamura and S. Hoshino, “Development of the Cybernetic Shoulder -A Three DOF Mechanism that Imitates Biological Shoulder-Motion -,” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.543-548, 1999.

[A-2-85]        K. Yamane, Y. Nakamura, “Dynamics Computation of Closed Kinematics Chains for Motion Synthesis of Human Figures,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1108-1114, 1999.

[A-2-86]        A. Sekiguchi, Y. Nakamura, “The Chaotic Mobile Robot,” IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.172-178, 1999.

[A-2-87]        Y. Nakamura, H. Ezaki, Y. Tan and W. Chung, “Design of Steering Mechanism and Control of Nonholonomic Trailer Systems,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.247-254, San Francisco, California, April, 2000.

[A-2-88]        K. Yamane and Y. Nakamura, “Dynamic Filter – Concept and Implementation of On-Line Generator for Human Figures,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.688-695, San Francisco, California, April, 2000.

[A-2-89]        M. Okada, Y. Nakamura and S. Hoshino, “Design of Active/Passive Hybrid Compliance in the Frequency Domain – Shaping Dynamic Compliance of Humanoid Shoulder Mechanism –,” Proc. of IEEE International Conference on Robotics and Automation, Vol.3, pp.2250-2257, San Francisco, California, April, 2000.

[A-2-90]        Y. Nakamura and K. Yamane, “Real-Time Interactive Motion Generator of Human Figures,” Proc. of First International Symposium on Adaptive Motions of Animals and Machines, CD-ROM E-21, Quebec, August, 2000

[A-2-91]        Y. Nakamura and K. Yamane, “Interactive Motion Generation of Humanoid Robots via Dynamics Filter,” Proc. of The First IEEE-RAS International Conference on Humanoid Robots, 54, Boston, Massachusetts, September, 2000.

[A-2-92]        K. Yamane and Y. Nakamura, “Dynamic Filter: Towards Real-Time and Interactive Motion Generator for Human Figures,” Prep. of 2000 Workshop on Interactive Robotics and Entertainment, pp.27-34, Pittsburgh, Pennsylvania, April, 2000.

[A-2-93]        Y. Nakamura and M. Hayashibe, “Real-Time Laser-Pointing Endoscope Using Galvano Scanner and 955fps High Speed Camera,” Proc. of Computer Assisted Orthopaedic Surgery, pp.267-269, Pittsburgh, Pennsylvania, 2000.

[A-2-94]        A. Sekiguchi and Y. Nakamura, “The Chaotic Mobile Robot,” Proc. of the 4th World Multiconference on Systemics, Cyberenetics and Informatics, Volume9, 463-468, Orlando, Florida, July, 2000.

[A-2-95]        Takahiro Suzuki, Yoshihiko Nakamura, “Control of Nonholonomic Free-Joint Manipulators with One Actuator,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, W-MI-7, pp.127-132, October, 2000.

[A-2-96]        Shingo Shimoda, Yoshihiko Nakamura, Sanefumi Shoji, “Mobility of a Microgravity Rover using Internal Electro-Magnetic Levitation,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1639-1645, October, 2000.

[A-2-97]        Qiang Huang, Yoshihiko Nakamura, Hirohiko Arai, Kazuo Tanie, “Development of a Biped Humanoid Simulator,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, F-AII-1, pp.1936-1942, October, 2000.

[A-2-98]        Yoshihiko Nakamura, Mitsuhiro Hayashibe, “Laser-Pointing Endoscope System for Natural 3D Interface between Robotic Equipments and Surgeons,” Proc. of Medicine Meets Virtual Reality, pp.348-354, January, 2001.

[A-2-99]        Yoshihiko Nakamura, Kousuke Kishi and Mitsuhiro Hayashibe, “Robotic Stabilization that Assists Cardiac Surgery on Beating Hearts,” Proc. of Medicine Meets Virtual Reality, pp.355-361, January, 2001.

[A-2-100]      Mitsuhiro Hayashibe, Yoshihiko Nakamura, Hiroyuki Shimizu and Masafumi Okada, “A Laser-Pointing Endoscope System Providing the Operational Support of Surgical Robot,” Proc. of the 32nd International Symposium on Robotics, TE4-5, Seoul, Korea, April, 2001.

[A-2-101]      Yoshihiko Nakamura, Hirohisa Hirukawa, Katsu Yamane, Shuuji Kajita, Kiyoshi Fujiwara, Fumio Kanehiro, Fumio Nagashima, Yuichi Murease and Masayuki Inaba, “Humanoid Robot Simulator for the MITI HRP Project,” Proc. of the 32nd International Symposium on Robotics, SA4-4, Seoul, Korea, April, 2001.

[A-2-102]      Akinori Sekiguchi and Yoshihiok Nakamura, “Behavior Control of Robot Using Orbits of Nonlinear Dynamics,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1647-1652, Seoul, Korea, May, 2001.

[A-2-103]      Tetsunari Inamura, Yoshihiko Nakamura, Hideaki Ezaki and Iwaki Toshima, “Imitation and Primitive Symbol Acquisition of Humanoids by the Integrated Mimesis Loop,” Proc. of IEEE International Conference on Robotics and Automation, Vol.4, pp.4208-4213, Seoul, Korea, May, 2001.

[A-2-104]      Zvi Shiller, Katsu Yamane and Yoshihiko Nakamura, “Planning Motion Patterns of Human Figures Using a Multi-layered Grid and the Dynamics Filter,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.1-8, Seoul, Korea, May, 2001.

[A-2-105]      Katsu Yamane and Yoshihiko Nakamura, “O(N) Forward Dynamics Computation of Open Kinematic Chains Based on the Principle of Virtual Work,” Proc. of IEEE International Conference on Robotics and Automation, Vol.3, pp.2824-2831, Seoul, Korea, May, 2001.

[A-2-106]      Masafumi Okada, Yoshihiko Nakamura and Shigeki Ban, “Design of Programmable Passive Compliance Shoulder Mechanism,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.348-353, Seoul, Korea, May, 2001.

[A-2-107]      Yoshihiko Nakamura, Kousuke Kishi and Hiro Kawakami, “Heartbeat Synchronization for Robotic Cardiac Surgery,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.2014-2019, Seoul, Korea, May, 2001.

[A-2-108]      Mitsuhiro Hayashibe and Yoshihiko Nakamura, “Laser-Pointing Endoscope System for Intra-Operative 3D Geometric Registration,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1543-1548, Seoul, Korea, May, 2001.

[A-2-109]      Huang Qiang, Yoshihiko Nakamura and Tetsunari Inamura, “Humanoids Walk with Feedforward Dynamic Pattern and Feedback Sensory Reflection,” Proc. of IEEE International Conference on Robotics and Automation, Vol.4, pp.4220-4225, Seoul, Korea, May, 2001.

[A-2-110]      Tetsunari Inamura, Yoshihiko Nakamura, Iwaki Toshima, “Mimesis Embodiment and Proto-symbol Acquisition for Humanoid,” Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Vol.1, pp.159-164, Como, Italy, July, 2001.

[A-2-111]      Fumio Kanehiro, Kiyoshi Fujiwara, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, Hirohisa Hirukawa, Yoshihiko Nakamura, Katsu Yamane, “Open Architecture Humanoid Robotics Platform,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.24-30, Washington D.C., U.S.A., May, 2002.

[A-2-112]      Katsu Yamane , Yoshihiko Nakamura, “Efficient Parallel Dynamics Computation of Human Figures,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.530-537, Washington D.C., U.S.A., May, 2002.

[A-2-113]      Katsu Yamane and Yoshihiko Nakamura, “Synergetic CG Choreography through Constraining and Deconstraining at Will,” Proc. of IEEE International Conference on Robotics and Automation, Vol.1, pp.855-862, Washington D.C., U.S.A., May, 2002.

[A-2-114]      Kazutaka Kurihara, Shin’ichiro Hoshino, Katsu Yamane and Yoshihiko Nakamura, “Optical Motion Capture System with Pan-Tilt Camera Tracking and Realtime Data Processing,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1241-1248, Washington D.C., U.S.A., May, 2002.

[A-2-115]      Tomomichi Sugihara, Yoshihiko Nakamura, Hirochika Inoue, “Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1404-1409, Washington D.C., U.S.A., May, 2002.

[A-2-116]      Masafumi Okada, Koji Tatani and Yoshihiko Nakamura, “Polynomial Design of the Nonlinear Dynamics for the Brain-Like Information Processing of Whole Body Motion,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1410-1415, Washington D.C., U.S.A., May, 2002.

[A-2-117]      Tetsunari Inamura , Iwaki Toshima , Yoshihiko Nakamura, “Acquisition and Embodiment of Motion Elements in Closed Mimesis Loop,” Proc. of IEEE International Conference on Robotics and Automation, Vol.2, pp.1539-1544, Washington D.C., U.S.A., May, 2002

[A-2-118]      Masafumi Okada, Shigeki Ban and Yoshihiko Nakamura, “Skill of Compliance with Controlled Charging/Discharging of Kinetic Energy,” Proc. of IEEE International Conference on Robotics and Automation, Vol.3, pp.2455-2460, Washington D.C., U.S.A., May, 2002.

[A-2-119]      Tetsunari Inamura, Iwaki Toshima and Yoshihiko, Nakamura, “Acquiring Motion Elements for Bidirectional Computation of Motion Recognition and Generation,” Proc. of International Symposium on Experimental Robotics, pp.357-366, Italy, July, 2002.

[A-2-120]      Tetsunari Inamura, Iwaki Toshima and Yoshihiko, Nakamura, “Associative Computational Model of Mirror Neurons that connects Missing Link between Behaviors and Symbols,” Proc. of Int’l Conf. on Robotics and Intelligent Systems, pp.1032-1037, 2002.

[A-2-121]      Tomomichi Sugihara and Yoshihiko, Nakamura, “Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian,” Proc. of International Conference on Robotics and Intelligent Systems, pp.2575-2580, 2002.

[A-2-122]      Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, Yoshihiko Nakamura, “Small Occupancy Robotic Mechanisms for Endoscopic Surgery,” Proc. of International Conference on Medical Computing and Computer Assisted Intervention, pp.75-82,2002.

[A-2-123]      Shingo Chiyoda, Kenichi Yoshimoto, Daisuke Kawasaki, Yoshifumi Murakami, Takayuki Sugimoto, “Development of a Motorcycle Simulator Using Parallel Manipulator and Head Mounted Display,” Proc. of International Conference on Motion and Vibration Control, pp.599-602,2002.

[A-2-124]      M. Hayashibe, N. Suzuki, Y. Nakamura, A. Hattori, S. Suzuki, “Intraoperative 3D Shape Recovery of Abdominal organs for Laparoscopic Data Fusion,” Medicine Meets Virtual Reality 2002, pp.188-194, IOS Press, 2002.

[A-2-125]      M. Hayashibe, N. Suzuki, A. Hattori, Y. Nakamura, “Intraoperative Fast 3D Shape Recovery of Abdominal Organs in Laparoscopy,” Medical Image Computing and Computer-Assisted Intervention 2002, pp.356-363, Lecture Notes in Computer Science 2489, Springer, 2002.

[A-2-126]      M. Hayashibe, N. Suzuki, Y. Nakamura, A. Hattori, “Real-time 3D Deformation Imaging of Abdominal Organs in Laparoscopy,” Medicine Meets Virtual Reality 11, pp.117-123, IOS Press, 2003.

[A-2-127]      Tetsunari Inamura, Hiroaki Tanie and Yoshihiko Nakamura, “From Stochastic Motion Generation and Recognition to Geometric Symbol Development and Manipulation,” Proc. of International Conference on Humanoid Robots, 2003.

[A-2-128]      Tetsunari Inamura, Hiroaki Tanie and Yoshihiko Nakamura, “Keyframe Extraction and Decompression for Time Series Data based on Continuous Hidden Markov Models,” Proc. of International Conference on Intelligent Robots and Systems, 2003.

[A-2-129]      Tetsunari Inamura, Hiroaki Tanie, Iwaki Toshima and Yoshihiko Nakamura, “An Approach from Motion Generation/Recognition to Intelligence based on Mimesis Principle,” Proc. of International Symposium on Adaptive Motion of Animals and Machines, pp. SaA-II-1, 2003.

[A-2-130]      Tomomichi Sugihara and Yoshihiko Nakamura, “Variable Impedant Inverted Pendulum Model Control for a Seamless Contact Phase Transition on Humanoid Robot,” IEEE International Conference on Humanoid Robotics, 2003.

[A-2-131]      Masafumi Okada, Tetsuya Shinohara, Tatsuya Goto, Shigeki BAN and Yoshihiko Nakamura, “Double Spherical Joint and Backlash Clutch for Lower Limbs of Humanoids,” Proc. of IEEE International Conference on Robotics and Automation, 2003.

[A-2-132]      Tomomichi Sugihara and Yoshihiko Nakamura, “Whole-body Cooperative COG Control through ZMP Manipulation for Humanoid Robots,” Proc. of 2nd International Symposium on Adaptive Motion of Animals and Machines, 2003.

[A-2-133]      Tomomichi Sugihara and Yoshihiko Nakamura, “Contact Phase Invariant Control for Humanoid Robot based on Variable Impedant Inverted Pendulum Model,” Proc. of IEEE International Conference on Robotics and Automation, 2003.

[A-2-134]      Masafumi Okada, Tetsuya Shinohara, Tatsuya Goto, Shigeki Ban and Yoshihiko Nakamura, “Humanoid Robot Mechanisms for Responsive Mobility,” Proc. of 3rd International Symposium on Adaptive Motion of Animals and Machines, Sap-III-3, 2003.

[A-2-135]      Yoshihiko Nakamura, Masafumi Okada, Tetsuya Shinohara, Tatsuya Goto and Shigeki Ban, “Mechanical Challenges for Further Humanoid Robot Evolution,” Proc. of The Third IARP International Workshop on Humanoid and Human Friendly Robotics, 2002.

[A-2-136]      Masafumi OKADA, Daisuke NAKAMURA and Yoshihiko NAKAMURA, “On-line and Hierarchical Design Methods of Dynamics Based Information Processing System,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.

[A-2-137]      Masafumi Okada, Daisuke Nakamura and Yoshihiko Nakamura, “Hierarchical Design of Dynamics Based Information Processing System for Humanoid Motion Generation,” Proc. of 3rd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-1, 2003.

[A-2-138]      K. Tatani and Y. Nakamura, “Dimensionality Reduction and Reproduction with Hierarchical NLPCA Neural Networks -Extracting Common Space of Multiple Humanoid Motion Patterns-,” Proc. of IEEE International Conference on Robotics and Automation, pp.1927-1932, 2003.

[A-2-139]      K. Tatani and Y. Nakamura, “Reductive Mapping for Sequential Patterns of Humanoid Body Motion,” Proc. of the 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-2, 2003.

[A-2-140]      Masafumi Okada and Yoshihiko Nakamura, “Polynomial Design of Dynamics-based Information Processing System,” Proc. of International Workshop on Control Problems in Robotics, pp.91-104, Published by Springer, Control Problems in Robotics, A. Bicchi, H. Christensen and D. Prattichizzo (Eds.), 2002.

[A-2-141]      Y. Nakamura, K. Yamane, I. Suzuki, and Y. Fujita, “Dynamic Computation of Musculo-Skeletal Human Model Based on Efficient Algorithm for Closed Kinematic Chains,” Proceedings of the 2nd International Symposium on Adaptive Motion of Animals and Machines, Kyoto, Japan, SaP-I-2, March 2003.

[A-2-142]      Tetsunari Inamura, Hiroaki Tanie and Yoshihiko Nakamura, “From Stochastic Motion Generation and Recognition to Geometric Symbol Development and Manipulation,” Proc. of International Conference on Humanoid Robotics, 2003.

[A-2-143]      Tomomichi Sugihara and Yoshihiko Nakamura, “Variable Impedant Inverted Pendulum Model Control for a Seamless Contact Phase Transition on Humanoid Robot,” Proc. of International Conference on Humanoid Robotics, 2003.

[A-2-144]      Tetsunari Inamura, Hiroaki Tanie and Yoshihiko Nakamura, “Keyframe Extraction and Decompression for Time Series Data based on Continuous Hidden Markov Models,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.

[A-2-145]      Masafumi Okada, Daisuke Nakamura and Yoshihiko Nakamura, “On-line and Hierarchical Design Methods of Dynamics Based Information Processing System,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2003.

[A-2-146]      Y. Nakamura, “A Stochastic Model of Embodied Symbol Emergence,” 11th International Symposium of Robotics Research, 2003.

[A-2-147]      M. Hayashibe, N. Suzuki, Y. Nakamura, and A. Hattori, “Real-time 3D Deformation Imaging of Abdominal Organs in Laparoscopy,” Medicine Meets Virtual Reality 11, pp.117-123, 2003.

[A-2-148]      Y. Kobayashi, S. Chiyoda, K. Watabe, M. Okada, and Y. Nakamura, “Small Occupancy Robotic Mechanisms for Endoscopic Surgery,” Proc. of International Conference on Medical Computing and Computer Assisted Intervention, pp.75-82, 2002.

[A-2-149]      M. Hayashibe, N. Suzuki, A. Hattori, and Y. Nakamura, “Intraoperative Fast 3D Shape Recovery of Abdominal Organs in Laparoscopy,” Medical Image Computing and Computer-Assisted Intervention 2002, Lecture Notes in Computer Science: Springer, pp.356-363, 2002.

[A-2-150]      M. Okada and Y. Nakamura, “Design of the Continuous Symbol Space for the Intelligent Robots Using the Dynamics-Based Information Processing,” Proc. of IEEE International Conference on Robotics and Automation, pp.3201-3206, 2004.

[A-2-151]      Z. Shiller, Y. Fujita, D. Ophir, and Y. Nakamura, “Computing a set of Local Optimal Paths through Cluttered Environments and over Open Terrain,” Proc. of IEEE International Conference on Robotics and Automation, pp.4759-4764, 2004.

[A-2-152]      Y. Nakamura and A. Murai, “Constraints and Deformations Analysis for Machining Accuracy Assessment of Closed Kinematic Chains,” Proc. of IEEE International Conference on Robotics and Automation, pp.1706-1712, 2004.

[A-2-153]      M. Otake, Y. Nakamura, and H. Inoue, “Pattern Formation Theory for Electroactive Polymer Gel Robots,” Proc. of IEEE International Conference on Robotics and Automation, pp.2782-2787, 2004.

[A-2-154]      M. Otake, Y. Nakamura, and H. Inoue, “Wave-shape Pattern Generation of Electroactive Polymer Gel in Controlled Electric Fields,” Proc. of the Second Conference on Artificial Muscles, 2004.

[A-2-155]      M. Otake, Y. Nakamura, M. Inaba, and H. Inoue, “Wave-shape Pattern Control of Electro-Active Polymer Gel Robots,” Proc. of the 9th International Symposium of Experimental Robotics, ID178, 2004.

[A-2-156]      T. Sugihara, K. Yamane, M. Okada, and Y. Nakamura, “Elements of Humanoid Robot Technology,” Proc. of the 1st IEEE Technical Exhibition Based Conference on Robotics and Automation, 2004.

[A-2-157]      K. Yamane, T. Kuroda, and Y. Nakamura, “High-Precision and High-Speed Motion Capture by Combining Heterogeneous Cameras,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.

[A-2-158]      M. Hayashibe, N. Suzuki, S. Kobayashi, N. Nakata, A. Hattori, and Y. Nakamura: “Development of a 3D Visualization System for Surgical Field Deformation with Geometric Pattern Projection,” Medicine Meets Virtual Reality 13, pp.172-177, IOS Press, 2005.

[A-2-159]      Gentiane Venture, Katsu Yamane, and Yoshihiko Nakamura, “Identifying Musculo-tendon Parameters of Human Body Based on the Musculo-skeletal Dynamics Computation and Hill-Stroeve Muscle Model,” Proc. of IEEE-RAS International Conference on Humanoid Robotics, pp.351-356, Tsukuba, Japan, December 5-7, 2005.

[A-2-160]      Bastien Janus and Yoshihiko Nakamura, “Unsupervised Probabilistic Segmentation of Motion Data for Mimesis Modeling,” Proc. of IEEE International Conference on Advanced Robotics, pp.411-417, Seattle, USA, July 18-20, 2005.

[A-2-161]      Dongheui Lee and Yoshihiko Nakamura, “Probabilistic Model of Whole-body Motion Imitation from Partial Observations,” Proc. of IEEE International Conference on Advanced Robotics, pp.337-343, Seattle, USA, July 18-20, 2005.

[A-2-162]      Wataru Takano, Hiroaki Tanie, and Yoshihiko Nakamura, “Key Feature Extraction for Probabilistic Categorization of Human Motion Patterns,” Proc. of IEEE International Conference on Advanced Robotics, pp.424-430, Seattle, USA, July 18-20, 2005.

[A-2-163]      Hideki Kadone and Yoshihiko Nakamura, “Symbolic Memory for Humanoid Robots using Hierarchical Bifurcations of Attractors in Nonmonotonic Neural Networks,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2900-2905, Edmonton, Canada, August 2-6, 2005.

[A-2-164]      Dongheui Lee and Yoshihiko Nakamura, “Mimesis from Partial Observations,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1911-1916, Edmonton, Canada, August 2-6, 2005

[A-2-165]      Yoshihiko Nakamura, Wataru Takano, and Katsu Yamane, “Mimetic Communication Theory for Humanoid Robots Interacting with Humans,” Prep. of International Symposium of Robotics Research, San Francisco, USA, October 12-15, 2005.

[A-2-166]      Masafumi Okada, Kenta Osato, and Yoshihiko Nakamura, “Motion Emergence of Humanoid Robots by an Attractor Design of a Nonlinear Dynamics,” Proc. of IEEE International Conference on Robotics and Automation, pp.18-23, 2005.

[A-2-167]      Hiroaki Tanie, Katsu Yamane, and Yoshihiko Nakamura, “High Marker Density Motion Capture by Retroreflective Mesh Suit,” Proc. of IEEE International Conference on Robotics and Automation, pp.2895-2900, 2005.

[A-2-168]      Katsu Yamane, Yusuke Fujita, and Yoshihiko Nakamura, “Estimation of Physically and Physiologically Valid Somatosensory Information,” Proc. of IEEE International Conference on Robotics and Automation, pp.2635-2641, Barcelona, 2005.

[A-2-169]      Tomomichi Sugihara, Wataru Takano, Katsu Yamane, Kou Yamamoto, and Yoshihiko Nakamura, “Online Dynamical Retouch of Motion Patterns Towards Animatronic Humanoid Robots,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.117-122, Tsukuba, Dec., 2005

[A-2-170]     Wataru Takano, Katsu Yamane, Yoshihiko Nakamura, “Primitive Communication of Humanoid Robot with Human via Hierarchical Mimesis Model on the Proto Symbol Space,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.167-174, Tsukuba, Japan, December 5-7, 2005.

[A-2-171]      Tomomichi Sugihara, Kou Yamamoto, Wataru Takano, Katsu Yamane, and Yoshihiko Nakamura, “Animatronic Humanoid Robot System That Responsively Interacts with Humans,” Proc. of the 36th International Symposium on Robotics, Tokyo, Dec., 2005

[A-2-172]      Tomomichi Sugihara, Kou Yamamoto, and Yoshihiko Nakamura, “Architectural Design of Miniature Anthropomorphic Robots Towards High-Mobility,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1083-1088, Edmonton, Aug., 2005

[A-2-173]      Tomomichi Sugihara and Yoshihiko Nakamura, “A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots,” Proc. of IEEE International Conference on Robotics and Automation, pp.306-311, Barcelona, Apr., 2005

[A-2-174]      Tomomichi Sugihara and Yoshihiko Nakamura, “Balanced Micro/Macro Contact Model for Forward Dynamics of Rigid Multibody,” Proc. of IEEE International Conference on Robotics and Automation, pp.1880-1885, Orland, May 2006

[A-2-175]      K. Yamane and Y. Nakamura, “Stable Penalty-Based Model of Frictional Contacts,” Proc. of IEEE International Conference on Robotics and Automation, pp.1904-1909, 2006.

[A-2-176]      G. Venture, K. Yamane and Y. Nakamura, “In-vivo Estimation of the Human Elbow Joint Dynamics during Passive Movements Based on the Musculo-skeletal Kinematics Computation,” Proc. of IEEE International Conference on Robotics and Automation, pp. 2960-2965, 2006.

[A-2-177]      W. Takano, K. Yamane, T. Sugihara, K. Yamamoto, and Y. Nakamura, “Primitive Communication based on Motion Recognition and Generation with Hierarchical Mimesis Model,” Proc. of IEEE International Conference on Robotics and Automation,  pp.3602-3609, Orland, Florida, USA, May 15-19,2006.

[A-2-178]      G. Venture, Y. Nakamura, and K. Yamane, “Application of non-linear least square method to estimate the muscle dynamics of the elbow joint,” Proc. of IFAC Symposium on System Identification, pp.1168-1173, 2006.

[A-2-179]      G. Venture, K. Yamane, and Y. Nakamura, “Identification of human musculo- tendon subject specific dynamics using musculo-skeletal computations and non linear least square,” Proc. of International Conference on Biomedical Robotics and Biomechatronics, #152, 2006.

[A-2-180]      G. Venture, K. Yamane, and Y. Nakamura, “In-vivo Estimation of the Human Elbow Joint Dynamics during Passive Movements Using Musculo-skeletal Model Computations,” Proc. of International Conference on Biomedical Robotics and Biomechatronics, #150, 2006.

[A-2-181]      Yoshihiko Nakamura Katsu Yamane Takeshi Toujo, Seiya Takahashi, Yoshihisa Tanikawa, and Hajime Takahashi, “Visual Stabilization in Fluorecent Confocal Microscopy for In-Vivo Molecular Imaging,” Proc. of The Fifth Annual Meeting of The Society of Molecular Imaging, Kona, Hawaii, USA, August 30-September 2, 2006.

[A-2-182]      Yoshihiko Nakamura, Katsu Yamane, and Akihiko Murai, “Macroscopic Modeling and Identification of the Human Neuromuscular Network,” Proc. of IEEE-EMBS Annual International Conference, NY, USA, August 30-September 3, 2006.

[A-2-183]      Hideki Kadone and Yoshihiko Nakamura, “Hierarchical Concept Formation in Associative Memory Models and its Application to Memory of Motions for Humanoid Robots,” Proc. of IEEE-RAS International Conference on Humanoid Robots, 2006.

[A-2-184]      Dongheui Lee and Yoshihiko Nakamura, “Stochastic Model of Imitating a New Observed Motion Based on the Aquired Motion Primitives,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4994-5000, 2006

[A-2-185]      Wataru Takano and Yoshihiko Nakamura, “Humanoid Robot’s Autonomous Acquisition of Proto-Symbols through Motion Segmentation,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.425-431, Genova, Italy, December 4-6, 2006.

[A-2-186]      K. Yamane and Y. Nakamura, “Parallel O(logN) Algorithm for Dynamics Simulation of Humanoid Robots,” Proc. of IEEE-RAS International Conference on Humanoid Robotics, 2006.

[A-2-187]      Hideki Kadone and Yoshihiko Nakamura, “Segmentation, Memorization, Recognition and Abstraction of Humanoid Motions based on Correlations and Associative Memory,” Proc. of IEEE-RAS International Conference on Humanoid Robots, 2006.

[A-2-188]     T. Sugihara and Y. Nakamura, “Enhancement of Boundary Condition Relaxation Method for 3D Hopping Motion Plannig of Biped Robots,” Proc. of IEEE International Conference on Intelligent Robots and Systems, pp. 444-449, 2007.

[A-2-189]      K. Yamane and Y. Nakamura, “Robot Kinematics and Dynamics for Modeling the Human Body,” Prep. of International Symposium on Robotics Research, pp. 77-88, Hiroshima, Japan, 2007.

[A-2-190]      K. Yamamoto, T. Sugihara, and Y. Nakamura, “Toe Joint Mechanism Using Parallel Four-bar Linkage Enabling Humanlike Multiple Support at Toe Pad and Toe Tip,” Proc. of IEEE-RAS International Conference on Humanoid Robots, 2007.

[A-2-191]      H. Kadone and Y. Nakamura, “Symbolic Memory of Motion Patterns by an Associative Memory Dynamics with Self-Organizing Nonmonotonicity,” Proc. of International Conference on Neural Information Processing, November 2007.

[A-2-192]      G. Venture, Y. Nakamura, K. Yamane, and M. Hirashima, “Estimating Viscoelastic Properties of Human Limb Joints Based on Motion Capturing and Robotic Identification Technologies,” Proc. of IEEE/RSJ International Conference on Intelligent Robot System, pp. 624-629, 2007.

[A-2-193]      Dongheui Lee and Yoshihiko Nakamura, “Motion Capturing from Monocular Vision by Statistical Inference Based on Motion Database: Vector Field Approach,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 617-623, 2007.

[A-2-194]      G. Venture, Y. Nakamura, K. Yamane, and M. Hirashima, “Identification of Limbs Joint Passive Visco-Elasticity: A Comparison of Two Experimental Methods,” Proc. of the 1st International Symposium on Skill Science, pp. 31-37, Tokyo, Japan, 2007.

[A-2-195]      A. Murai, K. Yamane, and Y. Nakamura, “Modeling and Identifying the Somatic Reflex Network of the Human Neuromuscular System,” Proc. of IEEE/EMBS International Conference on Engineering in Medicine and Biology, pp. 2717-2721, Lyon, France, August 23-26, 2007.

[A-2-196]      G. Venture, Y. Nakamura, K. Yamane, and M. Hirashima, “A Painless and Constraint-free Method to Estimate Viscoelastic Passive Dynamics of Limbs’ Joints to Support Diagnosis of Neuromuscular Diseases,” Proc. of IEEE/EMBS International Conference on Engineering in Medicine and Biology, pp. 5362-5365, Lyon, France, August 23-26, 2007.

[A-2-197]      K. Yamane and Y. Nakamura, “Automatic Scheduling for Parallel Forward Dynamics Computation of Open Kinematic Chains,” Proc. of Robotics: Science and Systems, Atlanta, USA, June 27-30, 2007.

[A-2-198]      Dongheui Lee and Yoshihiko Nakamura, “Mimesis Scheme using a Monocular Vision System on a Humanoid,” Proc. of IEEE International Conference on Robotics and Automation, pp. 2162-2168, Rome, Italy, April 9-13, 2007.

[A-2-199]      Sungon Lee, Takeshi Ozaki, Katsu Yamane, and Yoshihiko Nakamura, “In vivo Motion Estimation for Image Stabilization in Optical Imaging through a Contact-type Sensor Device,” Proc. of Joint Molecular Imaging Conference, #0427, Providence, USA, September 7-11, 2007.

[A-2-200]      Dana Kulic, Wataru Takano, and Yoshihiko Nakamura, “Incremental Learning of Full Body Motions via Adaptive Factorial Hidden Markov Models,” Proc. of International Conference on Epigenetic Robotics, pp.69-76, 2007.

[A-2-201]      Dana Kulic, Wataru Takano, and Yoshihiko Nakamura, “Towards Lifelog Learning and Organization of Whole Body Motion Patterns,” Proc. of 13th International Symposium of Robotics Research, pp. 113-124, Hiroshima, Japan, November 26-29, 2007.

[A-2-202]      Wataru Takano, Dana Kulic, and Yoshihiko Nakamura, “Interactive Topology Formation of Linguistic Space and Motion Space,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1416 – 1422, San Diego, USA, October 29- November 2, 2007.

[A-2-203]      Dana Kulic, Wataru Takano, and Yoshihiko Nakamura, “Representability of Human Motions by Factorial Hidden Markov Models,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2388-2393, San Diego, USA, October 29- November 2, 2007.

[A-2-204]      Dana Kulic, Wataru Takano, and Yoshihiko Nakamura, “Incremental On-line Hierarchical Clustering of Whole Body Motion Patterns,” Proc. of IEEE International Symposium of Robot and Human Interactive Communication, pp. 1016-1021, Jeju, Korea, August 26-29, 2007.

[A-2-205]      Wataru Takano, Katsu Yamane, and Yoshihiko Nakamura, “Capture Database through Symbolization, Recognition and Generation of Motion Patterns,” Proc. of IEEE International Conference on Robotics and Automation, pp.3092-3097, Rome, Italy, April 10-14, 2007.

[A-2-206]      H. Kaminaga, T. Yamamoto, J. Ono, and Y. Nakamura, “Backdrivable Miniature Hydrostatic Transmission for Actuation of Anthropomorphic Robot Hands,” Proc. of  IEEE-RAS International Conference on Humanoid Robots, pp.36 – 41, Nov. 29-Dec. 1, 2007.

[A-2-207]      K. Yamamoto, T. Sugihara, and Y. Nakamura, ”Toe Joint Mechanism Using Parallel Four-Bar Linkage Enabling Humanlike Multiple Support at Toe Pad and Toe Tip,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp. 410 – 415, Nov. 29-Dec.1, 2007.

[A-2-208]      Wataru Takano and Yoshihiko Nakamura, “Integrating Whole Body Motion Primitives and Natural language for Humanoid Robots”, Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.708-713, Daejeon Korea, December 1-3, 2008.

[A-2-209]      Wataru Takano, Akihiro Matsushita, Keijiro Iwao, and Yoshihiko Nakamura, “Recognition of Human Driving Behaviors based on Stochastic Symbolization of Time Series Signal,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.167-172, Nice, France, September 22-26, 2008.

[A-2-210]      Dana Kulic, Wataru Takano, Yoshihiko Nakamura, “Combining Automated On-Line Segmentation and Incremental Clustering for Whole Body Motions,” Proc. of IEEE International Conference on Robotics and Automation, pp.2591-2598, 2008.

[A-2-211]      H. Kaminaga, J. Ono, T. Yamamoto, and Y. Nakamura, “New Robot Actuator Using Hydrostatic Transmission”, Proc. of Robotics Symposia (in Japanese), 113-118, 2008.

[A-2-212]      C. Ott and Y. Nakamura, “Employing Wave Variables for Coordinated Control of Robots with Distributed Control Architecture,” Proc. of IEEE International Conference on Robotics and Automation, pp. 575-582, 2008.

[A-2-213]      C. Ott, A. Kugi, and Y. Nakamura, “Resolving the Problem of Non-Integrability of Nullspace Velocities for Compliance Control of Redundant Manipulators by Using Semi-Definite Lyapunov Functions,” Proc. of IEEE International Conference on Robotics and Automation, pp.1999-2004, 19-23 May 2008.

[A-2-214]      Dongheui Lee, Dana Kulic, Yoshihiko Nakamura, “Missing Motion Data Recovery Using Factorial Hidden Markov Models,” Proc. of IEEE International Conference on Robotics and Automation, pp. 1722-1728, 19-23 May 2008.

[A-2-215]      D. Lee; H. Kunori, Y. Nakamura, “Association of Whole Body Motion from Tool Knowledge for Humanoid Robots,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2867-2874, 22-26 Sept. 2008.

[A-2-216]      D. Kulic, D. Lee, C. Ott, and Y. Nakamura, “Incremental Learning of Full Body Motion Primitives for Humanoid Robots,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.326-332, 1-3 Dec. 2008.

[A-2-217]      K. Ayusawa, G. Venture, Y. Nakamura, “Identification of the Inertial Parameters of a Humanoid Robot Using Unactuated Dynamics of the Base Link,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.1-7, 1-3 Dec. 2008.

[A-2-218]      Christian Ott, Dongheui Lee, Yoshihiko Nakamura, “Motion Capture Based Human Motion Recognition and Imitation by Direct Marker Control,” Proc. of IEEE-RAS International Conference on Humanoid Robots, pp.399-405, 1-3 Dec. 2008.

[A-2-219]      Sungon Lee, Yoshihiko Nakamura, Takeshi Ozaki, “Hybrid Image Stabilization for in vivo Microscopic Imaging,” Proc. of IEEE-RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.770-775, 19-22 Oct. 2008.

[A-2-220]      G. Venture, K. Ayusawa, Y. Nakamura, “Human and Humanoid Identification from Base-Link Dynamics,” Proc. of IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.445-450, 19-22 Oct. 2008.

[A-2-221]      Sungon Lee, Takeshi Ozaki, and Yoshihiko Nakamura, “In vivo Microscope Image Stabilization through 3-D Motion Compensation Using a Contact-Type Sensor,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1192-1197, 22-26 Sept. 2008.

[A-2-222]      Dana Kulic and Yoshihiko Nakamura, “Scaffolding on-line Segmentation of Full Body Human Motion Patterns,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2860-2866, 22-26 Sept. 2008.

[A-2-223]      Ko Ayusawa, Gentiane Venture, and Yoshihiko Nakamura, “Identification of Humanoid Robots Dynamics using Floating-Base Motion Dynamics,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2854-2859, 22-26 Sept. 2008.

[A-2-224]      K. Yamane, Y. Nakamura, K. Yamamoto, “Dynamics Simulation of Humanoid Robots with Position-Controlled Joints and Closed Kinematic Chains,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.

[A-2-225]      Wataru Takano and Yoshihiko Nakamura, “Incremental Learning of Integrated Semiotics Based on Linguistic and Behavioral Symbols,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2545-2550 St. Louis, USA, October 11-15, 2009.

[A-2-226]      Wataru Takano and Yoshihiko Nakamura, “Statistically Integrated Semiotics that Enables Mutual Inference Between Linguistic and Behavioral Symbols for Humanoid Robots,” Proc. of IEEE International Conference on Robotics and Automation, Kobe, Japan, May 12-17, 2009.

[A-2-227]      Wataru Takano and Yoshihiko Nakamura, “Stochastic Inference Based on Integration of Symbolized Whole Body Motion Patterns and Natural Language,” Proc. of the 14th Robotics Symposia (in Japanese), pp.15-22, Hokkaido, Japan 16-17 March, 2009.

[A-2-228]      H. Kaminaga, J. Ono, Y. Nakashima, and Y. Nakamura, “Development of Backdrivable Hydraulic Knee Joint Mechanism for Humanoid Robots,” Proc. of IEEE International Conference on Robotics and Automation, pp. 1577-1582, 2009.

[A-2-229]      J. Ono, Y. Shimoyama, T. Amari, H. Kaminaga, Y. Katayama, and Y. Nakamura, “Hydraulically Driven Robot Hand with Detachable Wire Tendon Mechanism”, Proc. of the14th Robotics Symposia (in Japanese), pp.260-265, Hokkaido, Japan 16-17 March, 2009.

[A-2-230]      T. Kawakami, K. Ayusawa, H. Kaminaga, C. Ott, and Y. Nakamura, “Development of Rigid Torque Sensor with Linear Encoder for Joint Torque Control,” Proc. of the 14th Robotics Symposia (in Japanese), pp.120-125, Hokkaido, Japan 16-17 March, 2009.

[A-2-231]      G. Venture, K. Ayusawa, and Y. Nakamura, “Realtime Identification Software for Human Whole-Body Segment Parameters Using Motion Capture and its Visualization Interface,” Proc. of IEEE International Conference on Rehabilitation Robotics, pp.109-114, June 23-26, 2009.

[A-2-232]      Dana Kulic, Dongheui Lee, and Yoshihiko Nakamura, “Whole Body Motion Primitive Segmentation from Monocular Video,” Proc. of IEEE International Conference on Robotics and Automation, pp.3166-3172, 12-17 May 2009.

[A-2-233]      G. Venture, K. Ayusawa, Y. Nakamura, “A Numerical Method for Choosing Motions with Optimal Excitation Properties for Identification of Biped Dynamics – An Application to Human,” Proc. of IEEE International Conference on Robotics and Automation, pp.1226-1231, 12-17 May 2009.

[A-2-234]      K. Yamane, A. Murai, S. Takaya, and Y. Nakamura, “Muscle Tension Database for Contact-Free Estimation of Human Somatosensory Information,” Proc. of IEEE International Conference on Robotics and Automation, pp.633-638, 12-17 May 2009.

[A-2-235]      Dongheui Lee, Christian Ott, and Yoshihiko Nakamura, “Mimetic Communication with Impedance Control for Physical Human-Robot Interaction,” Proc. of IEEE International Conference on Robotics and Automation, pp.1535-1542, 12-17 May 2009.

[A-2-236]      Gentiane Venture, Ko Ayusawa, and Yoshihiko Nakamura, “Real-Time Identification and Visualization of Human Segment Parameters” Proc. of 31st Annual International Conference of IEEE Engineering in Medicine and Biology Society, September 4-6, 2009.

[A-2-237]      Dana Kulic, Gentiane Venture, and Yoshihiko Nakamura, “Detecting Changes in Motion Characteristics During Sports Training,” Proc. of 31st Annual International Conference of IEEE Engineering in Medicine and Biology Society, September 4-6, 2009.

[A-2-238]      Gentiane Venture, Ko Ayusawa, Dana Kulic, and Yoshihiko Nakamura, “Monitoring the Segment Parameters During Long Term Physical Training from Motion Capture Data,” Proc. of 31st Annual International Conference of IEEE Engineering in Medicine and Biology Society, September 4-6, 2009.

[A-2-239]      Akihiko Murai, Yamane Katsu, and Yoshihiko Nakamura, “Characterization of Motor Skill Based on Musculoskeletal Model,” Proc. of 31st Annual International Conference of IEEE Engineering in Medicine and Biology Society, September 4-6, 2009.

[A-2-240]      Akihiko Murai, Kosuke Kurosaki, Yamane Katsu, and Yoshihiko Nakamura, “Computationally Fast Estimation of Muscle Tension for Realtime Bio-feedback,” Proc. of 31st Annual International Conference of IEEE Engineering in Medicine and Biology Society, September 4-6, 2009.

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