Kyushu University Academic Staff Educational and Research Activities Database
List of Papers
Kazuo Kiguchi Last modified date:2018.01.29

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


Papers
1. Koki Honda, Kazuo Kiguchi, A Fundamental Study on the Effect of Vibration Stimulation on Triceps Brachii during Elbow Flexion motion for Perception-Assist, Proceedings of 27th 2016 International Symposium on Micro-NanoMechatronics and Human Science (From Micro & Nano Scale Systems to Robotics & Mechatronics Systems) (MHS2016), 2016.11.
2. D.S.V. Bandara, Jumpei Arata, Kazuo Kiguchi, Task Based Motion Intention Prediction with EEG Signals, Proceedings of 2016 4th International Symposium on Robotics and Intelligent Sensors (IRIS2016), 2016.11.
3. Jumpei Arata, Kazuo Kiguchi, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Makoto Hashizume, Mechanism study for Microsurgical Robotic System that can induce Multisensory Illusion, International Journal of Humanoid Robotics, vol.13, no.4, 1650018,, 2016.10.
4. Koki Honda, Kazuo Kiguchi, A fundamental study on the effect of vibration stimulation for motion modification in perception-assist, Proceedings of 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC2016), 2347-2352, 2016.10.
5. Fusaomi Nagata, Shingo Yoshimito, Kazuo Kiguchi, Keigo Watanabe, Maki K. Habib, Design of 3D Printer-Like Data Interface for a Robotic Removable Machining, Proceedings of the 9th International Conference on Intelligent Robotics and Applications (ICIRA2016), 2016.08.
6. Kazuo Kiguchi, Tremor Suppression with an Upper-Limb Power-Assist Robot, Proceedings of 38th Annual International Conference on the IEEE Engineering in Medicine and Biology Society (EMBC2016), 2016.08.
7. Kazuo Kiguchi, Takahiro Hora, A Virtual Wall for Perception-Assist with A Lower-Limb Power-Assist Robot, Proceedings of the Third International Conference on Computing, Measurement, Control and Sensor Network (CMCSN2016), 2016.05.
8. Kazuo Kiguchi, Takuto Fujita, Sho Yabunaka, Yusaku Takeda, Toshihiro Hara, Ankle Muscle Synergies for Smooth Pedal Operation Under Various Lower-Limb Posture, Proceedings of 4th International Conference on Cybernetics & Informatics (CYBI 2017), 71-78, 2016.03.
9. R.A.R.C. Gopura, D.S.V. Bandara, Kazuo Kiguchi, G.K.I. Mann, Developments in hardware systems of active upper-limb exoskeleton robots: A review, Robotics and Autonomous Systems,, vol.75-B, 203-220, 2016.01.
10. Jumpei Arata, Yuki Kamura, 小栗 晋, Ryu Nakadate, Kazuo Kiguchi, Makoto Hashizume, Multi-DOF Robotic Forceps for Laparoscopy using in-frame spring mechanism, The 6th International Conference on Advanced Mechatronics (ICAM2015), 2015.12.
11. Sanjaya Bandara, Jumpei Arata, Kazuo Kiguchi, Detecting the Motion Intention of the Humans with EEG Signals, The 6th International Conference on Advanced Mechatronics (ICAM2015), 2015.12.
12. Jumpei Arata, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, 小栗 晋, Kazuo Kiguchi, Makoto Hashizume, Operability Study on the Multisensory Illusion Inducible in Microsurgical Robotic Systems, The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), 2015.09.
13. Kazuo Kiguchi, Evolution of motion-assist and rehabilitation systems for better human life, MIPE2015, 2015.06.
14. Yoshiaki Hayashi, Kazuo Kiguchi, A Study of Features of EEG Signals During Upper-Limb Motion (I), AIM2015, 2015.06.
15. Kazuo Kiguchi, Atsuki Komori, Taiki Kono, A Study on Motion Modification Force in Perception-Assist for a Lower-Limb Power-Assist Exoskeleton, 7th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2014), 2014.12.
16. Kouki Arima, Nobuhiro Okada, Yasutaka Tsuji, Kazuo Kiguchi, Evaluations of a Multiple SOMs Method for Estimating Missing Values, Proceedings of IEEE/SICE International Symposium on System Integration (SII2014), 2014.12.
17. Kazuo Kiguchi, Yutaka Yokomine, Walking Assist for a Stroke Survivor with a Power-Assist Exoskeleton , IEEE International Conference on Systems, Man, and Cybernetics (SMC2014), 2014.10.
18. Takahiro Tsuji, Kazuo Kiguchi, Nobuhiro Okada, Yasutaka Tsuji, Munenori Uemura, Makoto Hashizume, A Study on Mechanical Properties of Pig’s Organ for an Organ’s Model in Surgery Simulator, 19th International Symposium on Artificial Life and Robotics 2014 (AROB 19th 2014), 433-437, 2014.08.
19. Thilina Lalitharatne, Kenbu Teramoto, Yoshiaki Hayashi, Kaoru Tamura, Kazuo Kiguchi, EEG-based evaluation for perception-assist in upper-limb power-assist exoskeletons, World Automation Congress (WAC2014), 2014.08.
20. Kazuo Kiguchi, Kaori Tamura, Yoshiaki Hayashi, Estimation of User's Hand Motion based on EMG and EEG Signals , World Automation Congress (WAC2014), 2014, 2014.08.
21. Shunji Hirokawa, Teruo Murakami, Kazuo Kiguchi, Kinematics and Kinetics of the Knee Joint in High Flexion, The 15th IUMRS-International Conference in Asia (IUMRS-ICA 2014), 2014.08.
22. Kazuo Kiguchi, Yoshiaki Hayashi, A Study on Effect of Muscle Tension on Artificial Hip Joint Dislocation, The 15th IUMRS-International Conference in Asia (IUMRS-ICA 2014), 2014.08.
23. Kazuo Kiguchi, Yoshiaki Hayashi, Task Estimation of Upper-Limb Using EEG and EMG Signals, 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), 548-553, 2014.07.
24. Thilina Dulantha Lalitharatne, Kenbu Teramoto, Yoshiaki Hayashi, Kazuo Kiguchi, Towards Hybrid EEG-EMG-Based Control Approaches to be Used in Bio-robotics Applications: Current Status, Challenges and Future Directions, Paladyn Journal of Behavioral Robotics, vol.4, no.2, 147-154, 2013.12.
25. Thilina Dulantha Lalitharatne, Kenbu Teramoto, Yoshiaki Hayashi, Kazuo Kiguchi, Evaluation of Fuzzy-Neuro Modifiers for Compensation of the Effects of Muscle Fatigue on EMG-Based Control to be Used in Upper-Limb Power-Assist Exoskeletons, Journal Of Advanced Mechanical Design Systems And Manufacturing, vol.7, no.4, 736-751, 2013.11.
26. Kazuo Kiguchi, Thilina Dulantha Lalitharatne, Yoshiaki Hayashi, Estimation of Forearm Supination/Pronation Motion Based on EEG signals to Control an Artificial Arm, Journal of Advanced Design, Systems, and Manufacturing, vol.7, no.1, pp.74-81, 2013.02.
27. Kazuo Kiguchi, Yoshiaki Hayashi, An EMG-Based Control for an Upper-Limb Power-Assist Exoskeleton Robot, IEEE Trans. on Systems, Man, and Cybernetics, Part B, vol.42, no.4, pp.1064-1071, 2012, 2012.08.
28. Kazuo Kiguchi, Control of a Redundant 7DOF Upper-Limb Power-Assist Exoskeleton Robot, Journal of Artificial Intelligence and Soft Computing Research, vol.1, no.3, pp,207-214, 2011.08.
29. . A. Ruwan Chandra Gopura, Kazuo Kiguchi, Etsuo Horikawa, A Study on Human Upper-Limb Muscles Activities during Daily Upper-Limb Motions, International Journal of Bioelectromagnetism, vol.12, no.2, pp.54-61, 2011.04.
30. Yasuju Takano, Masaru Ueno, Kazuo Kiguchi, Syuya Ide, Masaaki Mawatari, Takao Hotokebuchi, Development of a Passive Knee Motion Simulator to Evaluate Deep Knee Flexion of Total Knee Prosthesis, Journal of Medical Engineering and Technology, vol.4, no.4, pp.562-575, 2009.12.
31. R. A. Ruwan Chandra Gopura, Kazuo Kiguchi, EMG-Based Fuzzy-Neuro Control of a 3DOF Exoskeleton Robot for Human Upper-Limb Motion Assist, Journal of the National Science Foundation of Sri Lanka, vol.37, no.4, pp.241-248, 2009.09.
32. Kazuo Kiguchi, Manoj Liyanage, Yasunori Kose, Perception Assist with an Active Stereo Camera for an Upper-Limb Power-Assist Exoskeleton, International Journal of Robotics and Mechatronics, vol. 21, no. 5, pp.614-620, 2009.08.
33. R. A. Ruwan Chandra Gopura, Kazuo Kiguchi, An Exoskeleton Robot for Human Forearm and Wrist Motion Assist-Hardware Design and EMG-Based Controller, Journal of Advanced Design, Systems, and Manufacturing, vol.2, no.6, pp.1067-1083, 2008.12.
34. Subrata Kumar Kundu, Kazuo Kiguchi, Etsuo Horikawa, Design and Control Strategy for a 5 DOF Above-Elbow Prosthetic Arm, International Journal of Assistive Robotics and Mechatronics, vol.9, no.3, pp.79-93, 2008.09.
35. Kazuo Kiguchi, Mohammad Habibur Rahman, Makoto Sasaki, Kenbu Teramoto, Development of a 3DOF Mobile Exoskeleton Robot for Human Upper Limb Motion Assist, Robotics and Autonomous Systems, vol.56, no.8, pp.678-691, 2008.08.
36. Makoto Sasaki, Takumi Kimura, Kiyomi Matsuo, Goro Obinata, Takehiro Iwami, Kazuto Miyawaki, Kazuo Kiguchi, Simulator for Optimal Wheelchair Design, Journal of Robotics and Mechatronics, vol.20, no.6, pp.854-862, 2008.07.
37. Subrata Kumar Kundu, Kazuo Kiguchi, Kenbu Teramoto, A New Approach for Human Forearm Motion Assist by Actuated Artificial Joint – An Inner Skeleton Robot, Journal of Advanced Design, Systems, and Manufacturing, vol.2, no.1, pp.83-95, 2008.03.
38. Kazuo Kiguchi, Hui He, Kenbu Teramoto, A Study on Multi-Dimensional Fuzzy Q-Learning for Intelligent Robots, International Journal of Fuzzy Systems, vol.9, no.2, pp.92-104, 2007.06.
39. Kazuo Kiguchi, Active Exoskeletons for Upper-Limb Motion Assist, Journal of Humanoid Robotics, vol. 4, no. 3, pp. 607-624, 2007.03.
40. Kazuo Kiguchi, Yoshihiko Sakamoto, Kenbu Teramoto, Jiro Uozumi, Keiji Nakashima, A Study on Bladder Compression Systems for Urination Assist, International Journal of Human-friendly Welfare Robotic Systems, vol.6, no.2, pp.62-66, 2005.07.
41. Kazuo Kiguchi, Ryo Esaki, Toshio Fukuda, Development of a Wearable Exoskeleton for Daily Forearm Motion Assist, Advanced Robotics, vol.19, no.7, pp.751-771, 2005.03.
42. Kazuo Kiguchi, Takakazu Tanaka, Toshio Fukuda, Neuro-Fuzzy Control of a Robotic Exoskeleton with EMG Signals, IEEE Transactions on Fuzzy Systems, vol.12, no.4, pp.481-490, 2004.08.
43. Sherwin Guirnoldo, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Perception Control With Improved Expectation Learning Through Multilayered Neural Networks, IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol.34, no.3, pp.1582-1587, 2004.06.
44. Kazuo Kiguchi, K.Iwami, K.Watanabe, T.Fukuda, Controller Adjustment of an Exoskeleton Robot for Shoulder Motion Assist, Journal of Robotics and Mechatronics, vol.16, no.3, pp.245-255, 2004.03.
45. Kazuo Kiguchi, Keigo Watanabe, Toshio Fukuda, Trajectory Planning of Mobile Robots with DNA Computing, Journal of Advanced Computational Intelligence on Computational Intelligence in Robotics and Automation, vol.8, no.3, pp.295-301, 2004.03.
46. Koliya Pulasinghe, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Modular Fuzzy-Neuro Controller Driven by Spoken Language Commands, IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol.34, no.1, pp.293-302, 2004.02.
47. Sherwin A. Guirnoldo, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Neural Network Based Expectation Learning in Perception Control: Learning and Control With Unreliable Sensory System, Artificial Life and Robotics – An International Journal, vol.8, pp.147-152, 2004.01.
48. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Control of Three Degrees-Of-Freedom Underactuated Manipulator Using Switching Computed Torque Method, Artificial Life and Robotics – An International Journal, vol.8, no.2, pp.153-158, 2003.10.
49. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Control of underactuated robot manipulators using computed torque method: GA based approach, Soft Computing, vol.8, pp.51-60, 2003.10.
50. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, An Active Binocular Robotic Head, Derivation of its Kinematics and Equations of Motion, JSME International Journal, Series C, vol.46, no.2, pp.754-765, 2003.06.
51. Kazuo Kiguchi, Koya Iwami, Keigo Watanabe, Toshio Fukuda, An Assist Level Adjustment Method of an Active Shoulder Orthosis, International Journal of Human-friendly Welfare Robotic Systems, Vol. 4, No. 2, pp.8-12, 2003.06.
52. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, A Kinetic Energy Based Potential Field Method for the Local Obstacle Avoidance of Mobile Robots, International Journal of Human-friendly Welfare Robotic Systems, Vol. 4, No. 1, pp.59-67, 2003.04.
53. Kazuo Kiguchi, Thrishantha Nanayakkara, Keigo Watanabe, Toshio Fukuda, Multi-Dimensional Reinforcement Learning Using a Vector Q-Net - Application to Mobile Robots, Internal Journal of Control, Automation and Systems, vol.1, no.1, pp.142-148, 2003.03.
54. Kazuo Kiguchi, Koya Iwami, Makoto Yasuda, Keigo Watanabe, Toshio Fukuda, An Exoskeletal Robot for Human Shoulder Joint Motion Assist, IEEE/ASME Trans. on Mechatronics, vol.8, no.1, pp.125-135, 2003.03.
55. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Self-Adaptive Output Tracking with Application to Active Binocular Tracking, International Journal of Intelligent and Robotic Systems, vol.36, pp.129-147, 2003.02.
56. Tomohiro Yamaguchi, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Obstacle Avoidance for Quadruped Robots Using a Neural Network, Journal of Advanced Computational Intelligence and Intelligent Informatics, Vol. 7, No. 2, pp.115-123, 2003.02.
57. Koliya N. Pulasinghe, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Voice-Controlled Modular Fuzzy Neural Controller with Enhanced User Autonomy, Artificial Life and Robotics – An International Journal, vol.7, pp.40-47, 2002.10.
58. K.Kiguchi, S.Kariya, T.Tanaka, K.Watanabe, T.Fukuda, An Interface between an Exoskeletal Elbow Motion Assist Robot and a Human Upper-Arm, Journal of Robotics and Mechatronics, vol.14, no.5, pp.439-452, 2002.10.
59. Kazuo Kiguchi, Yukihiro Kusumoto, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda, Energy Optimal Gait Analysis of Quadruped Robots, Artificial Life and Robotics – An International Journal, vol.6, pp.120-125, 2002.09.
60. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Control for a Rings Gymnastic Robot Using Fuzzy Reasoning and Genetic Algorithms, Artificial Life and Robotics – An International Journal, vol.6, pp.113-119, 2002.09.
61. Xuedong Chen, K.Watanabe, K.Kiguchi, K.Izumi, An ART-Based Fuzzy Controller for the Adaptive Navigation of a Human-Coexistent Quadruped Robot, IEEE/ASME Trans. on Mechatronics, vol.7, no.3, pp.318-328, 2002.09.
62. K.Kiguchi, K.Watanabe, T.Fukuda, Generation of Efficient Adjustment Strategies for a Fuzzy-Neuro Force Controller using Genetic Algorithms – Application to Robot Force Control in an Unknown Environment, The International Journal of Information Sciences, vol.145, no.1-2, pp.113-126, 2002.08.
63. Xin Yang, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Coordinated Transportation of a Single Object by Two Nonholonomic Mobile Robots, Artificial Life and Robotics – An International Journal, vol.7, no.1-2, pp.48-54, 2002.07.
64. Thrishantha Nanayakkara, Kazuo Kiguchi, Tsukasa Murakami, Keigo Watanabe, Kiyotaka Izumi, Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent Control Modules, Journal of Robotics and Mechatronics, vol.14, no.3, pp.534-545, 2002.06.
65. Lanka Udawatta, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Fuzzy-Chaos Hybrid Controller for Controlling of Nonlinear Systems, IEEE Transactions on Fuzzy Systems, vol.10, no.3, pp.401-411, 2002.06.
66. Xuedong Chen, K.Watanabe, Kazuo Kiguchi, K.Izumi, Path Tracking Based on a Closed Loop Control for a Quadruped Robot in a Cluttered Environment, Trans of the ASME: Journal of Dynamic Systems, Measurement, and Control, vol.124, no.2, pp.272-280, 2002.05.
67. Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Toshio Fukuda, Application of Multiple Fuzzy-Neuro Controllers of an Exoskeletal Robot for Human Elbow Motion Support, Transactions on Control, Automation and Systems Engineers (CASE), vol.4, no.1, pp.49-55, 2002.03.
68. K.Kiguchi, K.Watanabe, T.Fukuda, Design of A Human-Like Desired Grasping Force Planner for Object Manipulation by Robot Manipulators, Machine Intelligence and Robotic Control, vol.3, no.4, pp.167-173, 2001.12.
69. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Evolutionary Learning of a Fuzzy Behavior Based Controller for a Non-Holonomic Mobile Robot in a Class of Dynamic Environments, Journal of Intelligent & Robotic Systems, vol.32, no.3, pp.255-277, 2001.11.
70. X.Chen, K.Watanabe, K.Kiguchi, K.Izumi, Implementation of Omnidirectional Crawl for a Quadruped Robot, Advanced Robotics, vol.15, no.2, pp.169-190, 2001.06.
71. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Fuzzy Self-Adaptive RBF Neural Network Based Control of a Seven-Link Redundant Industrial Manipulator, Advanced Robotics, vol.15, no.1, pp.17-44, 2001.03.
72. K.Kiguchi, T.Fukuda, Object Manipulation Under Disturbance Using Fuzzy-Neural Network, Mathematics and Computers in Simulation (Trans. of IMACS), vol.41, no.3-4, pp.235-244, 1996.07.
73. K.Kiguchi, T.Fukuda, Hybrid Control for an Unknown Environment Using Fuzzy Neural Network, Electrical Engineering in Japan. (in press).
74. K.Kiguchi, T.Fukuda, Fuzzy Neural Hybrid Position/Force Control for Robot Manipulators, Journal of Applied Mathematics and Computer Science, vol.6, no.3, pp.101-121.
75. K.Kiguchi, T.Fukuda, Intelligent Position/Force Controller for Industrial Robot Manipulators Application of Fuzzy Neural Networks, IEEE Transactions on Industrial Electronics, vol.44, no.6, pp.753-761.
76. K.Kiguchi, T.Fukuda, Neural Network Controllers for Robot Manipulators Application of Damping Neurons, Advanced Robotics, vol.12, no.3, pp.191-208.
77. K.Kiguchi, T.Fukuda, Y.Koga, T.Watanabe, K.Terajima, T.Hayashi, M.Sakamoto, M.Matsueda, Y.Suzuki, H.Segawa, Development of A Physiological Knee Motion Simulator, Advanced Robotics, vol.13, no.2, pp.171-188.
78. Xuedong Chen, K.Watanabe, K.Kiguchi, K.Izumi, Optimal Force Distribution for the Legs of a Quadruped Robot, Machine Intelligence and Robotic Control, vol.1, no.2, pp.87-94.
79. K.Kiguchi, T.Fukuda, Position/Force Control of Robot Manipulators for Geometrically Unknown Objects Using Fuzzy Neural Networks, IEEE Transactions on Industrial Electronics, vol.47, no.3, pp.641-649.
80. K.Kiguchi, K.Watanabe, K.Izumi, T.Fukuda, Two-Stage Adaptive Robot Position/Force Control Using Fuzzy Reasoning and Neural Networks, Advanced Robotics, vol.14, no.3, pp.153-168.
81. X.Chen, K.Watanabe, K.Kiguchi, K.Izumi, A Real-Time Kinematics on the Translational Crawl Motion of a Quadruped Robot, Journal of Intelligent and Robotic Systems, vol.29, no.2, pp.111-131.
82. Fuhua Han, T.Yamada, K.Watanabe, K.Izumi, K.Kiguchi, Construction of an Omnidirectional Mobile Robot Platform Based on Active Dual-Wheel Caster Mechanisms and the Development of the Control, Journal of Intelligent and Robotic Systems, vol.29, no.3, pp.257-275.
83. K.Kiguchi, H.Miyaji, K.Watanabe, K.Izumi, T.Fukuda, Generation of an Optimal Architecture of Neuro Force Controllers for Robot Manipulators in Unknown Environments Using Genetic Programming with Fuzzy Fitness Evaluation, Soft Computing, vol.5, no.3, pp.237-242.
84. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot, Autonomous Robots, vol.11, no.2, pp.173-189.
85. K.Kiguchi, S.Kariya, K.Watanabe, K.Izumi, T.Fukuda, An Exoskeletal Robot for Human Elbow Motion Support – Sensor Fusion, Adaptation, and Control, IEEE Trans. on Systems, Man, and Cybernetics, Part B, vol.31, no.3, pp.353-361.
86. Palitha Dassanayake, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, Robot Manipulator Task Control with Obstacle Avoidance Using Fuzzy Behavior-Based Strategy, International Journal of Fuzzy Systems, vol.10, no.3-4, pp.139-158.
87. Kazuo Kiguchi, Koya Iwami, Keigo Watanabe, Toshio Fukuda, A Study of an EMG-Based Exoskeletal Robot for Human Shoulder Motion Support, JSME International Journal, Series C, vol.44, no.4, pp.1133-1141.
88. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, Evolution of Underactuated Robots and Control Techniques, Machine Intelligence and Robotic Control, vol.4, no.3, pp.127-134.