| Kenji Tahara | Last modified date：2012.6.13 |
Graduate School
Undergraduate School
Other Organization
Other
E-Mail
Phone
092-802-3238
Fax
092-802-3238
Academic Degree
Ph. D (Eng.)
Field of Specialization
Robotics
Research
Research Interests
Membership in Academic Society
- A high-backdrivable manipulator with variable stiffness mechanism
keyword : Variable stiffness
2009.04. - Development and analysis of an intelligent motor control strategy for whole body musculo-skeletal system model to generate a smooth and natural human-like movement.
keyword : Muscul-skeletal system
2007.04. - Development of a human-like nursing care robotic system that can lift up a human being
keyword : nursing care robot
2003.04～2007.03. - Dynamic object manipulation using a multi-fingered robotic hand
keyword : Dynamic Grasping and manipulation
2007.04.
Books
| 1. | K. Tahara and Z.W. Luo,"On dynamic control mechanisms of redundant human musculo-skeletal system,",Springer-Verlag,S. Kawamura and M. Svinin (Eds.): Advances in Robot Control -From Everyday Physics to Human-Like Movements-, pp. 217–247,2011.10. |
Papers
| 1. | K. Tahara, S. Arimoto, R. Ozawa and Z.W. Luo,Bio-mimetic pinching movements of musculo-skeletal dual finger model,Advanced Robotics,Vol.25,No.1-2,pp.175-204,2011.01. |
| 2. | K. Tahara and H. Kino,Reaching movements of a redundant musculo-skeletal arm: Acquisition of an adequate internal force by iterative learning and its evaluation through a dynamic damping ellipsoid,Advanced Robotics,Vol.24,No.5-6,pp.783-818,2010.04. |
| 3. | K. Tahara, S. Arimoto, M. Sekimoto and Z.W. Luo,On control of reaching movements for musculo-skeletal redundant arm model,Applied Bionics and Biomechanics,Vol.6,No.1,pp.57-72,2009.03. |
| 4. | H. Kino, T. Yahiro, S. Taniguchi and K. Tahara,Sensorless position control using feedforward internal force for completely restrained parallel-wiredriven systems,IEEE Transactions on Robotics,Vol.25,No.2,pp.467-474,2009.02. |
| 5. | K. Tahara, Z.W. Luo, S. Arimoto and H. Kino,Sensory-motor control mechanism for reaching movements of a redundant musculo-skeletal arm,Journal of Robotic Systems,Vol.22,No.11,pp.639-651,2005.11. |
| 6. | S. Arimoto, M. Yoshida, J.-H. Bae and K. Tahara,Dynamic force/torque balance of 2D polygonal objects by a pair of rolling contacts and sensorymotor coordination,Journal of Robotic Systems,Vol.20,No.9,pp.517-537,2003.09. |
| 7. | S. Arimoto, K. Tahara and J.-H. Bae,A stability theory on a manifold: Concurrent realization of grasp and orientation control of an object by a pair of robot fingers,Robotica,Vol.21,No.2,pp.163-178,2003.03. |
| 8. | S. Arimoto, K. Tahara, M. Yamaguchi, P.T.A. Nguyen and H.-Y. Han,Principle of superposition for controlling pinch motions by means of robot fingers with soft tips,Robotica,Vol.19,No.1,pp.89-98,2001.01. |
- IEEE Robotics and Automation Society
- The Robotics Society of Japan
- The Society of Instrument and Control Engineers
- RI-MAN
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