Kyushu University Academic Staff Educational and Research Activities Database
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Kenji Tahara Last modified date:2017.10.31

Associate Professor / Control Systems
Department of Mechanical Engineering
Faculty of Engineering


Graduate School
Undergraduate School
Other Organization


E-Mail
Phone
092-802-3238
Fax
092-802-3238
Academic Degree
Ph. D (Eng.)
Field of Specialization
Robotics
Research
Research Interests
  • Robust motor control strategy to delay and noise of sensory information in sensory-motor integration
    keyword : Sensory-motor integration, delay, noise
    2016.04~2019.03.
  • Soft human support device using polymer artificial muscle
    keyword : polymer artificial muscle
    2015.10~2017.03.
  • Compound mobility using soft and hemispheric foot with torsional motion
    keyword : Compound mobility
    2014.04.
  • Dexterous object manipulation by fusing a sensory feedback manner with proprioceptive information
    keyword : Virtual frame
    2013.04.
  • On control of musculoskeletal systems by combining a feedfoward and feedback control manners
    keyword : musculoskeletal system
    2012.03.
  • 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.
Academic Activities
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. Ken Masuya, Shu Ono, Kentaro Takagi, Kenji Tahara, Modeling Framework for Macroscopic Dynamics of Twisted and Coiled Polymer Actuator Driven by Joule Heating Focusing on Energy and Convective Heat Transfer, Sensors and Actuators, 2017.10.
2. Ryuta Ozawa, Kenji Tahara, Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point, Advanced Robotics, 2017.09.
3. Miao Li, Kenji Tahara, Aude Billard, Learning task manifolds for constrained object manipulation, Autonomous Robots, 2017.06.
4. Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Dynamic grasping of an arbitrary polyhedral object, Robotica, 31, 4, 2013.07.
5. Hitoshi Kino, Shiro Kikuchi, Yuki Matsutani, Kenji Tahara, Takahiro Nishiyama, Numeracal 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, Robotics Society of Japan, 27, 16, 2013.03.
6. 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, Journal of Robotics and Mechatronics, 25, 1, 2013.01.
7. K. Tahara, S. Arimoto, R. Ozawa and Z.W. Luo, Bio-mimetic pinching movements of musculo-skeletal dual finger model, Advanced Robotics, 25, 1-2, 175-204, 2011.01.
8. 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, 24, 5-6, 783-818, 2010.04.
9. 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, 6, 1, 57-72, 2009.03.
10. 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, 25, 2, 467-474, 2009.02.
11. 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, 22, 11, 639-651, 2005.11.
12. 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, 20, 9, 517-537, 2003.09.
13. 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, 21, 2, 163-178, 2003.03.
14. 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, 19, 1, 89-98, 2001.01.
Presentations
1. 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, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, 2017.07.05.
2. Kentaro Takagi, Takeshi Arakawa, Jun Takeda, Ken Masuya, Kenji Tahara, Kinji Asaka, Position control of twisted and coiled polymer actuator using a controlled fan for cooling, SIPE, 2017.03.
3. Takeshi Arakawa, Kentaro Takagi, Kenji Tahara, Kinji Asaka, Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread, SIPE, 2016.03.
4. 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, 42nd Annual Conf. of the IEEE Industrial Electronics Society, 2016.10.
5. Hiroaki Ochi, Hitoshi Kino, Kenji Tahara, Yuki Matsutani, Geometric conditions for feedforward positioning of musculoskeletal tendon-driven structure, 41st Annual Conf. of the IEEE Industrial Electronics Society, 2015.11.10.
6. Tetsuya Morizono, Kenji Tahara, Hitoshi Kino, Experimental investigation of contribution of biarticular actuation to mappings between sensory and motor spaces, 41st Annual Conf. of the IEEE Industrial Electronics Society, 2015.11.10.
7. Tokuo Tsuji, Kosei Baba, Kenji Tahara, Kensuke Harada, KEN'ICHI MOROOKA, Ryo Kurazume, Grasp stability evaluation based on energy tolerance in potential field, IEEE⁄RSJ Int. Conf. Intell. Robots, Syst., 2015.09.30.
8. Tomofumi Okada, Kenji Tahara, Development of a two-link planar manipulator with continuously variable transmission mechanism, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2014.07.09.
9. Miao Li, Hang Yin, Kenji Tahara, Aude Billard, Learning object-level impedance control for robust grasping and dexterous manipulation, 2014 IEEE International Conference on Robotics and Automation, 2014.06.04.
10. 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, 2014 IEEE International Conference on Robotics and Automation, 2014.06.03.
11. Kenji Tahara, Yuta Kuboyama, Ryo Kurazume, Iterative learning control for a musculoskeletal arm: Utilizing multiple space variables to improve the robustness, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2012.10.09.
Membership in Academic Society
  • IEEE Robotics and Automation Society
  • The Robotics Society of Japan
  • The Society of Instrument and Control Engineers
  • The Japan Society of Mechanical Engineers
Awards
  • RI-MAN