Journal Papers

[A-1-1]

花房秀郎, 吉川恒夫, 中村仁彦, “関節形ロボットの自律的ならい制御, ” 計測自動制御学会論文集, Vol.18, No.11, pp.1110-1116, 1982.

H. Hanafusa, T. Yoshikawa and Y. Nakamura, “Autonomous Contouring Control of an Articulated Robot,” Trans. Society of Instrument and Control Engineers, Vol. 18, pp. 1110-1116 (in Japanese), 1982.

[A-1-2]

花房秀郎, 吉川恒夫, 中村仁彦, “関節形ロボットアームの冗長性の解析とその優先順位を有する作業への応用, ” 計測自動制御学会論文集, Vol.19, No.5, pp.421-426, 1983.

H. Hanafusa, T. Yoshikawa and Y. Nakamura, “Redundancy Analysis of Articulated Robot Arms and its Utilization for Tasks with Priority,” Trans. Society of Instrument and Control Engineers, Vol. 19, pp. 421-426 (in Japanese), 1983.

[A-1-3]

中村仁彦, 花房秀郎, “関節形ロボットの2次元自律的ならい制御系の構造解析と設計, ” システムと制御, Vol.27, No.9, pp.598-605, 1983.

Y. Nakamura and H. Hanafusa, “Structural Analysis and Synthesis of Two Dimensional Autonomous Trajectory Control System for Articulated Robot Manipulators,” Journal of Japan Association of Automatic Control Engineers:  Systems and Control, Vol. 27, pp. 598-605 (in Japanese), 1983.

[A-1-4]

中村仁彦, 花房秀郎, “関節形ロボットアームの特異点低感度運動分解,”  計測自動制御学会論文集, Vol.20, No.5, pp.453-459, 1984.

Y. Nakamura and H. Hanafusa, “Singularity Low-Sensitive Motion Resolution of Articulated Robot Arms,” Trans. Society of Instrument and Control Engineers, Vol. 20, pp. 453-459 (in Japanese), 1984.

[A-1-5]

中村仁彦, 花房秀郎, “関節形ロボットのセンサフィードバックによる3次元自律的ならい制御―構造解析と制御系設計―, ” 計測自動制御学会論文集, Vol.21, No.2, pp.183-189, 1985.

Y. Nakamura and H. Hanafusa, “Analysis and Synthesis of Sensor Based 3D Autonomous Trajectory Control System of Robot Manipulators,” Trans Society of Instrument and Control Engineers, Vol. 21, pp. 183-189 (in Japanese), 1985.

[A-1-6]

中村仁彦, 花房秀郎, “関節形ロボットアームの最適冗長性制御—拘束条件付軌道計画問題の最適解法―, ” 計測自動制御学会論文集, Vol.21, No.5, pp. 501-507, 1985.

Y. Nakamura and H. Hanafusa, “Optimal Redundancy Control of Articulated Robot Arms,” Trans. Society of Instrument and Control Engineers, Vol. 21, pp. 501-507 (in Japanese), 1985.

[A-1-7]

中村仁彦, “ロボットマニピュレータの操作力発生の必要十分条件, ” 日本ロボット学会誌, Vol.4, No.1, pp.3-8, 1986.

Y. Nakamura, “Necessary and Sufficient Condition for Manipulation Force Applicability of Robot Manipulators,” Journal of Robotics Society of Japan, Vol. 4, pp. 3-8 (in Japanese), 1986.

[A-1-8]

Y. Nakamura and H. Hanafusa, “Inverse Kinematic Solutions with Singularity Robustness for Robot Manipulator Control,” Journal of Dynamic Systems, Measurement, and Control, Vol.108, pp.163-171, 1986.

[A-1-9]

中村仁彦, 永井清, 吉川恒夫, “複数のロボット機構による協調的あやつりの力学, ”日本ロボット学会誌, Vol.4, No.5, pp.489-498, 1986.

Y. Nakamura, K. Nagai and T. Yoshikawa, “Mechanics of Coordinative Manipulation by Multiple Robotic Mechanisms,” Journal of Robotics Society of Japan, Vol. 4, pp. 489-498 (in Japanese), 1986.

[A-1-10]

Y. Nakamura and H. Hanafusa, “Optimal Redundancy Control of Robot Manipulators,” International Journal of Robotics Research, Vol.6, No.1, pp.32-42, 1987.

[A-1-11]

Y. Nakamura, H. Hanafusa and T. Yoshikawa, “Task Priority Based Redundancy Control of Robot Manipulators,” International Journal of Robotics Research, Vol.6, No.2, pp.3-15, 1987.

[A-1-12]

中村仁彦, 吉川恒夫, 二股一郎, “力覚センサの弾性要素の設計指針と信号処理, ” 計測自動制御学会論文集, Vol.23, No.5, pp.433-439, 1987.

Y. Nakamura, T. Yoshikawa and I. Futamata, “Elastic Component Design Criteria and Signal Processing of Force Sensors,” Trans. Society of Instrument and Control Engineers, Vol. 23 (in Japanese), pp.433-439, 1987.

[A-1-13]

Y. Nakamura and H. Hanafusa, “3D Autonomous Trajectory Control of Robot Manipulators,” Robotics and Computer-Integrated Manufacturing, Vol.3, No.2, pp. 395-408, 1987.

[A-1-14]

中村仁彦, 横小路泰義, 花房秀郎, 吉川恒夫, “ロボットマニピュレータの運動と動力学の統合化計算, ” 計測自動制御学会論文集, Vol.23, No.5, pp. 491-498, 1987.

Y. Nakamura, Y. Yokokohji, H. Hanafusa and T. Yoshikawa, “Unified Computation of Kinematics and Dynamics for Robot Manipulators,” Trans. Society of Instrument and Control Engineers, Vol. 23, pp. 491-498,  (in Japanese), 1987.

[A-1-15]

吉川恒夫, 中村仁彦, 横小路泰義, “DSPによる多関節マニピュレータの動的制御のための実時間計算, ”計測自動制御学会論文集, Vol.6, No.3, pp.175-183, 1988.

T. Yoshikawa, Y, Nakamura and Y. Yokokohji, “Application of DSP to Real Time Computation for Dynamic Control of Robot Manipulators,” Journal of Robotic Society of Japan, Vol. 6, No. 3, pp. 175-183, (in Japanese), 1988.

[A-1-16]

Y. Nakamura, K. Nagai and T. Yoshikawa, “Dynamics and Stability in Coordination of Multiple Robotic Mechanisms,” International Journal of Robotics Research, Vol.8, No.2, pp.44-61, 1989.

[A-1-17]

Y. Nakamura and M. Ghodoussi, “Dynamics Computation of Closed Link Robot Mechanisms with Non-Redundant and Redundant Actuators,” IEEE Transactions on Robotics and Automation, Vol.5, No.3, pp.294-302, 1989.

[A-1-18]

中村仁彦, “閉リンクロボットのダイナミックス計算法と駆動冗長性の最適化, ” 計測自動制御学会論文集, Vol.25, No.5, pp.600-607, 1989.

Y. Nakamura, “Dynamics Computation of Closed Link Robots and Optimization of Actuational Redundancy,” Trans. Society of Instrument and Control Engineers, Vol. 25, No. 5, pp. 600-607, (in Japanese), 1989.

[A-1-19]

T. Yoshikawa, Y. Nakamura and Y. Yokokohji, “Application of DSP to Real-Time Computation for Dynamic Control of Robot Manipulators,” Advanced Robotics, Vol.5, N0.3, pp.275-291, 1991.

[A-1-20]

Y. Nakamura and R. Mukherjee, “Nonholonomic Path Planning of Space Robots via Bi-Directional Approach,” IEEE Transactions on Robotics and Automation, Vol.7, N0.4, pp.500-514, 1991.

[A-1-21]

R. Mukherjee and Y. Nakamura, “Formulation and Efficient Computation of Inverse Dynamics of Space Robots,” IEEE Transactions on Robotics and Automation, Vol.8, N0.3, pp.500-514, 1992.

[A-1-22]

中村仁彦, 伊藤聡, “電力を回生する宇宙ロボットシステムの姿勢制御装置の冗長性を利用した省エネルギ化制御, ”日本ロボット学会誌, Vol.11, No.5, pp.717-725, 1993.

Y. Nakamura and S. Ito, “Utilizing Redundancy of Orientation-Control Wheels for Lowering Energy-Consumption of Space Robot Systems that Regenerate Electricity,” Journal of Robotic Society of Japan, Vol. 11, No. 5, pp. 717-725, (in Japanese), 1993.

[A-1-23]

中村仁彦, 岩本隆史, “自由関節で連結された宇宙構造物の形状制御, ”日本ロボット学会誌, Vol.11, No.6, pp.883-891, 1993.

Y. Nakamura and R. Iwamoto, “Space Multibody Structure Connected with Free-joints and its Shape Control,” Journal of Robotic Society of Japan, Vol. 11, No. 6, pp. 883-891, (in Japanese), 1993.

[A-1-24]

Y. Nakamura and R. Mukherjee, “Exploiting Nonholonomic Redundancy of Free-Flying Space Robots,” IEEE Transactions on Robotics and Automation, Vol.9, N0.6, pp.499-506, 1993.

[A-1-25]

中村仁彦, O.J. Sørdalen, 鄭宇眞, “非ホロノミック・マニピュレータの理論的設計と非線形制御, ”日本ロボット学会誌, Vol.13, No.5, pp.674-682, 1995.

Yoshihiko Nakamura, O.J. Sørdalen, and Woojin Chung, “Theoretical Design and Nonlinear Control of a Nonholonomic Manipulator,” Journal of Robotics Society of Japan (in Japanese), Vol.13, No.5, pp.674-682, 1995.

[A-1-26]

中村仁彦, 岩本隆史, 吉本堅一, “ドリフト項をもつ非ホロノミック機械の制御, ”日本ロボット学会誌, Vol.13, No.6, pp.830-837, 1995.

Yoshihiko Nakamura, Ryuji Iwamoto, and Ken’ichi Yoshimoto, “Control of Nonholonomic Mechanisms with Drift,” Journal of Robotics Society (in Japanese), Vol.13, No.6, pp.830-837, 1995.

[A-1-27]

中村仁彦, 張暁毅, 吉本堅一, “パワーグラスプとそのロバスト性の評価法, ”日本ロボット学会誌, Vol. 13, No.6, pp.866-874, 1995.

Yoshihiko Nakamura, XiaoYi Zhang, and Ken’ichi Yoshimoto, “Power Grasp and Evaluation of its Robustness,” Journal of Robotics Society of Japan (in Japanese), vol.13, No.6, pp.830-837, 1995.

[A-1-28]

鈴木高宏, 中村仁彦, “非ホロノミック宇宙ロボットのスパイラルモーション, ”日本ロボット学会誌, Vol.13, No.7, pp.1020-1029, 1995.

Takahiro Suzuki and Yoshihiko Nakamura, “Spiral Motion of Nonholonomic Space Robots” Journal of Robotics Society of Japan (in Japanese), vol.13, No.7, pp.1020-1029, 1995.

[A-1-29]

Y. Nakamura and A. Matsui, “An Active Manipulation Device Actuated with Shape Memory Alloy Pipes for Endoscopic Surgery,” Journal of Computer Aided Surgery, Vol.1, Supl., pp.72-73, 1995.

[A-1-30]

張暁毅, 中村仁彦, 吉本堅一, “不完全な接触をもつ把持の力学的多面凸解析, ” 日本ロボット学会誌, Vol.14, No.1, pp.105-113, 1996.

XiaoYi Zhang, Yoshihiko Nakamura, and Ken’ichi Yoshimoto, “Mechanical Analysisof Grasps with Defective Contacts Using Polyhedral Convex Set Theory,” Journal of Robotics Society of Japan (in Japanese), Vol.14, No.1, pp.105-113, 1996.

[A-1-31]

中村仁彦, 濃沼雅史, 鈴木高宏, “自由関節を持つ平面アームのカオス的挙動と非線形制御 ―ドリフトを持つ非ホロノミック機械の制御―, ”日本ロボット学会誌, Vol.14, No.4, pp.602-611, 1996.

Yoshihiko Nakamura, Masabumi Koinuma, and Takahiro Suzuki, “Chaotic Behavior and Nonlinear Control of a Two-joint Planar Arm with a Free Joint –Control of Nonholonomic Mechanisms with Drift–,” Journal of Robotics Society of Japan (in Japanese), Vol.14, No.4, pp.602-611, 1996.

[A-1-32]

中村仁彦, 神村明哉, 横内禎明, “対称構造をもつフライホイールバッテリ・機械負荷駆動システムとそのエネルギ流制御, ”日本機械学会論文集(C編), Vol.C-62, No.597, pp.1781-1787, 1996.

Yoshihiko Nakamura, Akiya Kamimura, and Sadaaki Yokouchi, “Symmetric Drive of Flywheel Batteries and Mechanical Loads and their Energy-Flow Control,” Transactions of the Japan Society of Mechanical Engineers (in Japanese), Vol. C-62 No.597, pp.1781-1787, 1996.

[A-1-33]

中村仁彦, 鄭宇眞, O.J. Sørdalen, “非ホロノミック・マニピュレータの実験的研究, ”日本ロボット学会誌, Vol.14, No.5, pp.82-90, 1996.

Yoshihiko Nakamura, Woojin Chung, and Ole Jacob Sørdalen, “Experimental Research of a Nonholonomic Manipulator,” Journal of Robotics Society of Japan (in Japanese), Vol.14, No.5, pp.82-90, 1996.

[A-1-34]

Y. Nakamura and R. Mukherjee, “Noetherian Perspective of Eulerian Motion of a Free Rigid Body,” Journal of Guidance, Control, and Dynamics, Vol.20, No.1, pp.193-196, 1997.

[A-1-35]

Y. Nakamura and T. Suzuki, “Planning Spiral Motions of Nonholonomic  Free-Flying Space Robot,” Journal of Spacecraft and Rockets, Vol.34, No.1, pp.137-143, 1997.

[A-1-36]

張暁毅, 中村仁彦, 吉本堅一, “パワーグラスプを含む一般的な把持とあやつりの力学, ” 日本ロボット学会誌, Vol.15, No.2, pp.45-53, 1997.

XiaoYi Zhang, Yoshihiko Nakamura, and Ken’ichi Yoshimoto, “Statics of Grasping and Manipulation that is Applicable to Powergrasp,” Journal of Robotics Society of Japan (in Japanese), Vol.15, No.2, pp.45-53, 1997.

[A-1-37]

中村仁彦, 来島正一郎, “多面凸集合演算を用いたパワーグラスプの限界外力空間の計算, ”日本ロボット学会誌, Vol.15, No.5, pp.72-79, 1997.

Yoshihiko Nakamura and Shoichiro Kurushima, “Computation of Marginal External Force Space of Power Grasp Using Polyhedral Convex Set Theory,” Journal of Robotics Society of Japan (in Japanese), Vol.15, No.5, pp.72-79, 1997.

[A-1-38]

Y. Nakamura, T. Suzuki, and M. Koinuma, “Nonlinear Behavior and Control of A Nonholonomic Free-Joint Manipulator,” IEEE Trans. on Robotics and Automation, 13(6), pp.853-862, 1997.

[A-1-39]

中村仁彦, 山崎友敬, “反射行動の重ね合わせ理論とその多指ハンドの反射的把握動作への応用, ”日本ロボット学会誌, Vol.15, No.3, pp.448-459, 1997.

Yoshihiko Nakamura and Tomotaka Yamazaki, “The Integration Theory of Reactive Behaviors and Its Application to Reactive Grasp by a Multi-Fingered Hand,” Journal of Robotics Society of Japan (in Japanese), Vol.15, No.3, pp.136-147, 1997.

[A-1-40]

中村仁彦, 関口暁宣, “カオティック移動ロボット, ”日本ロボット学会誌, Vol.15, No.6, pp.918-926, 1997.

Yoshihiko Nakamura and Akinori Sekiguchi, “The Chaotic Mobile Robot,” Journal of Robotics Society of Japan (in Japanese), Vol.15, No.6, pp.108-116, 1997.

[A-1-41]

渡辺泰之, 中村仁彦, “質量中心不変構造を持つ宇宙ロボット, ”  日本ロボット学会誌, Vol.16, No.2, pp.258-264, 1998.

Yasuyuki Watanabe and Yoshihiko Nakamura, “A Space Robot with the Center-of-Mass Invariance,” Journal of Robotics Society of Japan (in Japanese), Vol.16, No.2, pp.124-130, 1998.

[A-1-42]

中村仁彦, 鈴木高宏, “非ホロノミック機械系の平均化法による挙動解析と振幅変調制御 ― 平面2R自由関節マニピュレータの位置制御 ― , ”日本ロボット学会誌, Vol.16, No.3, pp.407-416, 1998.

Yoshihiko Nakamura and Takahiro Suzuki, “Behavior Analysis and Control by Amplitude Modulation of Nonholonomic Mechanical Systems via the Averaging Method -Positioning Control of Planar 2R Free-Joint Manipulators-,” Journal of Robotics Society of Japan (in Japanese), 16 (3), pp.407-416, 1998

[A-1-43]

中村仁彦, 山根克, 永嶋史朗, “構造変化を伴うリンク系の動力学計算法とヒューマンフィギュアの運動計算, ”  日本ロボット学会誌, Vol.16, No.8, pp.1152-1159, 1998.

Yoshihiko Nakamura, Katsu Yamane, and Fumio Nagashima, “Dynamics Computation of Structure-Varying Kinematic Chains and Its Application to Human Figures,” Journal of Robotics Society of Japan (in Japanese), pp.1152-1159, Vol.16, No.8, 1998.

[A-1-44]

鄭宇眞,中村仁彦, “チェインドフォーム・マニピュレータの設計, ”日本ロボット学会誌,Vol.17, No.1, pp.61-67, 1999.

Woojin Chung and Yoshihiko Nakamura, “Design of the Chained Form Manipulator,” Journal of Robotics Sciety of Japan (in Japanese), Vol.17, No.1, pp.61-67, 1999.

[A-1-45]

中村仁彦, 清水和利, “低侵襲外科手術用光駆動SMA能動鉗子, ” 日本ロボット学会誌, Vol.17, No.3, pp.439-448, 1999.

Yoshihiko Nakamura and Kazutoshi Shimizu, “Optical Drive of SMA Active Forceps for Minimally Invasive Surgery,” Journal of Robotics Society of Japan (in Japanese), 17(3), pp.439-448, 1999

[A-1-46]

橋本 稔, 戸子田勉, 田畑 毅, 中村仁彦, “形状記憶合金を用いた腹腔鏡下外科手術のための能動鉗子機構,” 日本ロボット学会誌, Vol.17, No.4, pp.513-519, 1999.

Minoru Hashimoto, Tsutomu Tokoda, Tsuyoshi Tabata, and Yoshihiko Nakamura, “A Shape Memory Alloy Active Forceps for Laparoscopic Surgery,” Journal of Robotics Society of Japan (in Japanese), Vol.17, No.4, pp.513-519, 1999.

[A-1-47]

中村仁彦, 江崎秀明, 鄭宇眞, “非ホロノミック・トレーラシステムの操舵機構設計と制御, ”日本ロボット学会誌, Vol.17, No.6, pp.839-847, 1999.

Yoshihiko Nakamura, Hideaki Ezaki, Woojin Chung, “Design of Steering Mechanism and Control of Nonholonomic Trailer Systems,” Journal of Robotics Society of Japan (in Japanese), Vol.17, No.6, pp.839-847, 1999.

[A-1-48]

中村仁彦, 渡辺泰之, 荒木健悟, “宇宙ロボットの自由落下無重力実験 ― 小空間における実験法と視覚計測 ― , ”日本ロボット学会誌, Vol.17, No.7, pp.975-982, 1999.

Yoshihiko Nakamura, Yasuyuki Watanabe, and Kengo Araki, “Experiments of a Space Robot in Free-Fall Microgravity –Experimental Methods and Visual Measurement in a Small Space–,” Journal of Robotics Society of Japan (in Japanese), Vol.17, No.7, pp.975-982, 1999.

[A-1-49]

中村仁彦, “低侵襲外科手術用ロボット, ”日本ロボット学会誌, Vol.18, No.1, pp.41-44, 2000.

Yoshihiko Nakamura, “Robots for Minimally Invasive Surgery,” Journal of Robotics Society of Japan, Vol.18, No,1, pp.41-44, 2000.

[A-1-50]

中村仁彦, 山根克, 岡田昌史, 小嶺徳晃, “加速度感覚提示機用パラレルマニュピレータの並列実時間動力学計算とH∞加速度フィードバック制御, ”日本ロボット学会誌, Vol.18, No.3, pp.426-434, 2000.

Yoshihiko Nakamura , Katsu Yamane , Masafumi Okada, and Noriaki Komine, “Parallel Real-Time Dynamics Computation and H∞ Acceleration Feedback Control of Parallel Manipulatiors for Acceleration Display,” Journal of Robotics Society of Japan (in Japanese), Vol.18, No.3, pp.426-434, 2000.

[A-1-51]

中村仁彦, 山根克, “拘束条件が不連続に変化するリンク系の動力学 ― 環境と接触しながら運動するヒューマンフィギュアへの応用 ―, ”日本ロボット学会誌, Vol.18, No.3, pp.435-443, 2000.

Yoshihiko Nakamura and Katsu Yamane, “Dynamics of Kinematic Chains with Discontinuous Changes of Constraints –Application to Human Figures that Move in Contact with the Environments–,” Journal of Robotics Society of Japan (in Japanese) , Vol.18, No.3, pp.435-443, 2000.

[A-1-52]

Y. Nakamura and K. Yamane, “Dynamics Computation of Structure-Varying Kinematic Chains and Its Application to Human Figures,” IEEE Transactions on Robotics and Automation, Vol.16, No.2, pp.124-134, 2000.

[A-1-53]

岡田昌史, 中村仁彦, “サイバネティック・ショルダの開発―人間の肩の動きを模倣した3自由度機構―, ”日本ロボット学会誌, Vol.18, No.5, pp.690-698, 2000.

Masafumi Okada and Yoshihiko Nakamura, “Development of Cybernetic Shoulder –A Three DOF Mechanism that Imitates Human Shoulder-Motions–,” Journal of Robotics Society of Japan (in Japanese) , Vol.18, No.5, pp.690-698, 2000.

[A-1-54]

中村仁彦, 川上洋生, 岡田昌史, “低侵襲心臓外科手術を支援する臓器運動補償型手術ロボットシステム, ”日本ロボット学会誌, Vol.18, No.6, pp.873-881, 2000.

Yoshihiko Nakamura , Hiro Kawakami, and Masafumi Okada, “Motion Cancelling Robot System for Minimally Invasive Cardiac Surgery,” Journal of Robotics Society of Japan (in Japanese) , Vol.18, No.6, pp.873-881, 2000.

[A-1-55]

中村仁彦, 下田真吾, 庄司真史, “磁気浮上を利用した微小重力ローバ, ”日本ロボット学会誌, Vol.19, No.4, pp.485-491, 2001.

Yoshihiko Nakamura , Shingo Shimoda, and Sanefumi Shoji, “Microgravity Rover using Electro?magnetic Actuation,” Journal of Robotics Society of Japan (in Japanese) , Vol.19, No.4, pp.485-491, 2001.

[A-1-56]

Yoshihiko Nakamura, Woojin Chung and Ole Jacob Sordalen, “Design and Control of the Nonholonomic Manipulator,” IEEE Transactions on Robotics and Automation, Vol.17, No.1, pp.48-59, February, 2001.

[A-1-57]

鈴木高宏, 三好渉, 中村仁彦, “非ホロノミック自由関節マニピュレータの制御, ”日本ロボット学会誌, Vol.19,  No.4, pp.499-509, 2001.

Takahiro Suzuki, Wataru Miyoshi, and Yoshihiko Nakamura, “Control of Nonholonomic Free-Joint Manipulators,” Journal of Robotics Society of Japan (in Japanese), Vol.19, No.4, pp.499-509, 2001.

[A-1-58]

Yoshihiko Nakamura, Hideaki Ezaki, Yuegang Tan and Woojin Chung, “Design of Steering Mecanism and Control of the Nonholonomic Trailer System,” IEEE Tran. on Robotics and Automation, Vol.17, No.3, pp.367-374, June, 2001.

[A-1-59]

Yoshihiko Nakamura and Akinori Sekiguchi, “The Chaotic mobile robot,” IEEE Trans. on Robotics and Automation, Vol.17, No.6, pp.898-904, December, 2001.

[A-1-60]

Y. Nakamura, H. Hirukawa, K. Yamane, S. Kajita, K. Fujiwara, F. Kanehiro, F. Nagashima, Y. Murase, M. Inaba, “Humanoid Robot Simulator for the METI HRP Project,” Robotics and Autonomous Systems, Vol.37, pp101-114, 2001.

[A-1-61]

Yoshihiko Nakamura and Kousuke Kishi, “Robotic stabilization assisting cardiac surgery on beating hearts,” Minimally invasive Therapy & Allied Technologies, 10(4/5), pp205-208, 2001.

[A-1-62]

岡田昌史, 中村仁彦, 星野慎一郎, “周波数特性の上限・下限を与えるハイブリッドコンプライアンスH∞設計法―ヒューマノイド・肩部コンプライアンスの整形と制御―”. 日本ロボット学会誌, Vol.19, No.8, pp.974-982, 2001.

Masafumi Okada , Yoshihiko Nakamura, and Shin-ichiro Hoshino, “H∞ Design of Hybrid Compliance using Upper/Lower Bound in the Frequency Domain — Shaping and Control of Dynamic Compliance of Humanoid Shoulder Mechanisms –,” Journal of Robotics Society of Japan (in Japanese) , Vol.19, No.8, pp.974-982, 2001.

[A-1-63]

山根克, 中村仁彦, “ヒューマンフィギュアの全身運動生成のための協応構造化インターフェース”, 日本ロボット学会誌, Vol.20, No.3, pp.335-343, 2002.

Katsu Yamane and Yoshihiko Nakamura, “Pin-and-Drag Synergetic Interface for Choreography of Human Figures,” Journal of Robotics Society of Japan (in Japanese) , Vol.20, No.3, pp.335-343, 2002.

[A-1-64]

K. Yamane and Y. Nakamura: “Natural Motion Animation through Constraining and Deconstraining at Will,” IEEE Transactions on Visualization and Computer Graphics, vol.9, no.3, pp.352–360, 2003.

[A-1-65]

K. Yamane and Y. Nakamura: “Dynamics Filter—Concept and Implementation of On-line Motion Generator for Human Figures,” IEEE Transactions on Robotics and Automation, vol.19, no.3, pp.421–432, 2003.

[A-1-66]

中村仁彦, 岸宏亮, 岡田昌史, “高速度カメラを用いた心拍同期とそれを用いた心臓外科手術支援ロボットシステム,” 日本ロボット学会誌, Vol.21, No.4, pp.4513-459, 2003.

Yoshihiko Nakamura, Kousuke Kishi, Masafumi Okada, “Motion-Cancelling Robot System for Minimally Invasive Cardiac Surgery,” Journal of Robotics Society of Japan (in Japanese), Vol.21, No.4, pp.117-125, May, 2003.

[A-1-67]

中村仁彦, 林部充宏, “術中幾何情報を獲得するレーザポインティング内視鏡システム,” 日本ロボット学会誌, Vol.21, No.3, pp.302-308, 2003.

Yoshihiko Nakamura and Mitsuhiro Hayashibe, “Laser-Pointing Endoscope System for Intraoperative 3D Geometric Registration,” Journal of Robotics Society of Japan (in Japanese), Vol.21, No.3, pp.302-308, April, 2003.

[A-1-68]

中村仁彦, 林部充宏, 清水浩行, “パッシブセイフティを実現する手術ロボットナビゲータ,” 日本ロボット学会誌, Vol.21, No.2, pp.178-184, 2003.

Yoshihiko Nakamura, Mitsuhiro Hayashibe, Hiroyuki Shimizu, “Passive Safety Enhancement in Surgical Robot Navigation,” Journal of Robotics Society of Japan (in Japanese), Vol.21, No.2, pp.178-184, March, 2003.

[A-1-69]

金広, 藤原, 梶田, 横井, 金子, 比留川, 中村, 山根, “ヒューマノイドロボット ソフトウェア プラットフォーム OpenHRP,” 日本ロボット学会誌, Vol.21, No.7, pp.785-793, October, 2003.

Fumio Kanehiro, Kiyoshi Fujiwara, Shuuji Kajita, Kazuhito Yokoi, Kenji Kaneko, Hirohisa Hirukawa, Yoshihiko Nakamura, and Katsu Yamane, “Open Architecture Humanoid Robotics Platform: OpenHRP,” Journal of Robotics Society of Japan (in Japanese), Vol.21, No.7, pp.785-793, October, 2003.

[A-1-70]

稲邑哲也, 中村 仁彦, 戸嶋巌樹, 江崎秀明, “ミメシス理論に基づく見まね学習とシンボル創発の統合モデル,” 日本ロボット学会誌, Vol.22, No.2, pp.108-115, 2004.

Tetsunari Inamura, Yoshihiko Nakamura, Iwaki Toshima, and Hideaki Ezaki, “An Integrated Model of Imitation Learning and Symbol Emergence based on Mimesis Theory,” Journal of Robotics Society of Japan (in Japanese), Vol.22, No.2, pp.256-263, 2004.

[A-1-71]

T. Inamura, I. Toshima, H. Tanie and Y. Nakamura:”Embodied Symbol Emergence Based on Mimesis Theory,” International Journal of Robotics Research, Vol.23, No.4/5, pp.363-378, 2004.

[A-1-72]

岡田昌史, 中村仁彦, “脳型情報処理を行う力学系の多項式設計法とそのヒューマノイドの全身運動生成への応用,” 日本ロボット学会誌, Vol.22, No.8, pp.1050-1060, 2004.

Masafumi Okada and Yoshihiko Nakamura, “Polynomial Design of Nonlinear Dynamics for Brain-Like Information Processing and Its Application to Humanoid Whole Body Motion,” Journal of Robotics Society of Japan, Vol.22, No.8, pp.1050-1060, 2004

[A-1-73]

H. Hirukawa, F. Kanehiro, K. Kaneko, S. Kajita, K. Fujiwara, Y. Kawai, F. Tomita, S. Hirai, K. Tanie, T. Isozumi, K. Akachi, T. Kawasaki, S. Ota, K. Yokoyama, H. Handa, Y. Fukase, J. Maeda, Y. Nakamura, S. Tachi, H. Inoue: “Humanoid Robotics Platforms Developed in HRP”, Robotics and Autonomous Systems, Vol.48, pp. 165-175, 2004.

[A-1-74]

林部充宏, 鈴木直樹, 服部麻木, 小林進, 中村仁彦, “術中臓器形状に基づく腹腔鏡下Data-Fusionシステムの開発,” 日本コンピュータ外科学会誌, Vol.6, No.1, pp.31-38, 2004.

Mitsuhiro Hayashibe, Naoki Suzuki, Asaki Hattori, Susumu Kobayashi, and Yoshihiko Nakamura, “Development of Laparoscopic Data-Fusion System Based on an Intraoperative Organ Shape,” Journal of Japan Society of Computer Aided Surgery (in Japanese), Vol.6, No.1, pp.31-38, 2004.

[A-1-75]

林部充宏, 鈴木直樹, 小林進, 中田典生, 服部麻木, 鈴木薫之, 大竹義人, 中村仁彦, “幾何学パターン投影法を用いた術中での生体変形計測法の開発,” 電子情報通信学会誌, Vol.J88-D-2, No.1, Page133-141, 2005.

Mitsuo Hayashibe, Naoki Suzuki, Susumu Kobayashi, Norio Nakata, Asaki Hattori, Masayuki Suzuki, Yoshito Ootake, and Yoshihiko Nakamura, “Development of a 3D Measurement System for Surgical Field Deformation with Geometric Pattern Projection,” Journal of Institute of Electronics, Information and Communication Engineers (in Japanese), Vol.J88-D-2, No.1, Page133-141, 2005.

[A-1-76]

岡田昌史,中村大介,中村仁彦, “力学的情報処理を用いた自己組織的記号獲得と運動生成,” 人工知能学会誌,vol.20,no.3,pp.177-187,2005.

Masafumi Okada, Daisuke Nakamura, Yoshihiko Nakamura: “Self-organizing Symbol Acquisition and Motion Generation based on Dynamics-based Information Processing System,” Transaction of Artificial Intelligence Society (Japanese), vol.20,no.3,pp.177-187,2005.

[A-1-77]

岡田 昌史,中村大介,門根秀樹,梶山博史,中村仁彦, “力学的情報処理におけるアトラクタ設計法に関する研究 -逐次設計による可塑性の導入と階層化設計による大規模化-,” 日本ロボット学会誌, vol.23, no.5, pp.77-87, 2005.

Masafumi Okada, Daisuke Nakamura, Hideki Kadone, Hiroshi Kajiyama, Yoshihiko Nakamura: ”Research on Attractor Design for the Dynamics-based Information Processing System—On-line Design for Plastic Property and Hierarchical Design for Large-scale Systems—,” Journal of Robotics Society of Japan (in Japanese) , vol.23, no.5, pp.77-87, 2005.

[A-1-78]

岡田昌史,中村仁彦, “力学的情報処理による連続的記号空間の設計と全身運動の生成,” 日本ロボット学会誌,vol.23,no.7,pp.858-863, 2005.

Masafumi Okada, Yoshihiko Nakamura: “Design of Continuous Symbol Space and Whole Body Motion Generation using Dynamics-based Information Processing System,” Journal of Robotics Society of Japan (in Japanese), vol.23, no.7, pp.858-863, 2005.

[A-1-79]

岡田昌史,大里健太,中村仁彦, “非線形力学系のアトラクタ設計によるヒューマノイドロボットの運動創発,” 計測自動制御学会論文誌,vol.41,no.6,pp.533-540, 2005.

Masafumi Okada, Kenta Oosato and Yoshihiko Nakamura: “Motion Emergency of Humanoid Robots by Attractor Design of a Nonlinear Dynamics,” Transaction of Society of Instruments and Control Engineers (in Japanese), vol.41,no.6,pp.533-540, 2005.

[A-1-80]

Masafumi Okada and Yoshihiko Nakamura: “Development of a Cybernetic Shoulder -A Three-DOF Mechanism That Imitates Biological Shoulder Motion-,” IEEE Transactions on Robotics, vol. 21, no.3, pp.438-443, 2005.

[A-1-81]

Qiang Huang and Yoshihiko Nakamura: “Sensory Reflex Control for Humanoid Walking,” IEEE Transactions on Robotics, vol.21, no.5, pp.977-984, 2005.

[A-1-82]

Y. Nakamura, K. Yamane, Y. Fujita, and I. Suzuki: “Somatosensory Computation for Man-Machine Interface from Motion Capture Data and Musculoskeletal Human Model,” IEEE Transactions on Robotics, vol.21, no.1, pp.58-66, 2005.

[A-1-83]

K. Yamane, Y. Nakamura, M. Okada, N. Komine, and K. Yoshimoto: “Parallel Dynamics Computation and H-Infinity Acceleration Control of Parallel Manipulators for Acceleration Display,” ASME Journal of Dynamic Systems, Measurement and Control, vol.127, pp.185-191, 2005.

[A-1-84]

杉原知道, 中村仁彦, “非駆動自由度の陰表現を含んだ重心ヤコビアンによる脚型ロボットの全身協調反力操作,” 日本ロボット学会誌, Vol.24, No.2, pp.222-231, 2006.

Tomomichi Sugihara, Yoshihiko Nakamura: “Whole-body Cooperative Reaction Force Manipulation on Legged Robots with COG Jacobian involving Implicit Representation of Unactuated Coordinates,” Journal of Robotics Society of Japan (in Japanese), Vol.24, No.2, pp.222-231, 2006.

[A-1-85]

杉原知道, 中村仁彦, “ZMP-重心モデルと台車型倒立振子モデルのアナロジーによるヒューマノイドロボットの高機動化制御,” 日本ロボット学会誌, Vol.24, No.1, pp.74-83, 2006.

Tomomichi Sugihara, Yoshihiko Nakamura: “High Mobility Control of Humanoid Robots Based on an Analogy of ZMP–COG Model and Carted Inverted Pendulum Model,” Journal of Robotics Society of Japan (in Japanese), Vol.24, No.1, pp.74-83, 2006.

[A-1-86]

杉原知道, 中村仁彦, “時間二重外乱吸収法に基づくヒューマノイドロボットの全身協調運動制御,” 日本ロボット学会誌, Vol.24, No.1, pp.64-73, 2006.

Tomomichi Sugihara, Yoshihiko Nakamura: “Dual Term Absorption of Disturbance for the Whole-body Cooperative Motion Control of Humanoid Robot ,” Journal of Robotics Society of Japan (in Japanese), Vol.24, No.1, pp.64-73, 2006.

[A-1-87]

門根秀樹, 中村仁彦, “連想記憶モデルにおける階層的なアトラクタ分岐を用いた運動パターンのシンボリック・メモリー,”日本ロボット学会誌, Vol.25, No.2, pp.249-258, 2007.

Hideki Kadone, Yoshihiko Nakamura: “Symbolic Memory of Motion Patterns using Hierarchical Bifurcations of Attractors in an Associative Memory Model, Journal of Robotics Socieeety of Japan (in Japanese), Vol.25, No.2, pp.249-258, 2007.

[A-1-88]

杉原知道, 中村仁彦, ”境界条件緩和法による二脚ロボットのオンライン運動計画,”日本ロボット学会誌, Vol.25, No.7, pp.1082-1091, 2007.

Tomomichi Sugihara, Yoshihiko Nakamura: “Boundary Condition Relaxation Method for Online Motion Planning of Biped Robots,” Journal of Robotics Society of Japan (in Japanese), Vol.25, No.7, pp.1082-1091, 2007.

[A-1-89]

山根,谷江,中村, “再帰反射性メッシュマーカによる三次元形状のリアルタイムキャプチャ,” 電子情報通信学会論文誌D, vol. J90-D, no. 8, pp.1938-1947, 2007.

Katsu Yamane, Hiroaki Tanie, Yoshihiko Nakamura: “Realtime 3D Geometry Capture by Retroreflective Mesh Markers,” Journal of Institute of Electronics, Information and Communication Engineers, Series D, Vol. J90-D, No. 8, pp.1938-1947, 2007.

[A-1-90]

S. Lee, Y. Nakamura, K. Yamane, T. Toujo, S. Takahashi, Y. Tanikawa, H. Takahashi, “Image Stabilization for In Vivo Microscopy by High-Speed Visual Feedback Control,” IEEE Transactions of Robotics, Vo.24, No.1, pp.45-54, 2008.

[A-1-91]

Masaya Hirashima, Katsu Yamane, Yoshihiko Nakamura and Tatsuyuki Ohtsuki, “Kinetic chain of Overarm Throwing in Terms of Joint Rotations Revealed by Induced Acceleration Analysis,” Journal of Biomechanics, Volume 41, Issue 13, pp. 2874-2883, 2008.

[A-1-92]

杉原知道, 中村仁彦, “ミクロ・マクロ衝突モデルの融合によるリンク系順動力学接触力計算の数値的悪条件緩和,” 日本ロボット学会誌, Vol.26, No.7, pp.49-59  2008.

Tomomichi Sugihara, Yoshihiko Nakamura: “Improvement of Numerical Ill-posedness of Contact Force Computation in Forward Dynamics of Multibody based on Balanced Micro/Macro-Collision Model,” Journal of Robotics Society of Japan (in Japanese), Vol.26, No.7, pp.49-59, 2008.

[A-1-93]

Dana Kulic, Wataru Takano, and Yoshihiko Nakamura, “Incremental Learning, Clustering and Hierarchy Formation of Whole Body Motion Patterns using Adaptive Hidden Markov Chains,” International Journal of Robotics Research, Vol.27, No.7, pp.761-784, 2008.

[A-1-94]

稲邑哲也, 谷江博昭, 中村仁彦, “幾何学的シンボル操作による多様な動作パターンの認識・生成を実現する原始シンボル空間の構成法,” 日本ロボット学会誌, Vol.27, No.5, pp.84-94, 2009.

Tetsunari Inamura, Hiroaki Tanie, Yoshihiko Nakamura, “Construction of the Proto-Symbol Space that Realizes Recognition and Generation of Various Motion Patterns based on Geometric Symbol Manipulation,” Journal of Robotics Society of Japan (in Japanese), Vol.27, No.5, pp.84-94, 2009.

[A-1-95]

Dana Kulic, Wataru Takano, Yoshihiko Nakamura, “On-line Segmentation and Clustering from Continuous Observation of Whole Body Motions,” IEEE Transactions on Robotics, Vol.25, No.5, pp.1158-1166, 2009

[A-1-96]

T. Sugihara and Y. Nakamura, “Boundary Condition Relaxation Method for Stepwise Pedipulation Planning of Biped Robots,” IEEE Transactions on Robotics, Vol. 25, No. 3, pp. 658-669, 2009.

[A-1-97]

Gentiane Venture, Katsu Yamane, Yoshihiko Nakamura, and Tokotaka Yamamoto, “Identification of Human Limb Viscoelasticity using Robotics Methods to Support the Diagnosis of Neuromuscular Diseases,” International Journal of Robotics Research, Vol.28, No.10, pp.1322-1333, 2009.

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