Kyushu University [Kenji Tahara (Professor) Faculty of Engineering, Department of Mechanical Engineering]

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Kenji Tahara
Professor
Control and Systems
Department of Mechanical Engineering
Faculty of Engineering
Last modified date：2024.05.02

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Department of Mechanical Engineering
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1.	Kenji Tahara, Akihiro Kawamura, Chapter 9: A Grasping and Manipulation Scheme That is Robust gainst Time Delays of Sensing Information: An Application of a Controller Based on Finger-Thumb Opposability Human-Inspired Dexterity in Robotic Manipulation, 1st Ed., Academic Press, 2018.07.
2.	K. Tahara and Z.W. Luo, "On dynamic control mechanisms of redundant human musculo-skeletal system,", Springer-Verlag, 2011.10.

1.	A Robust Motor Control Strategy against Time-delays and Noises:—Motor Intelligence on Open Environments—.
2.	On special issue "Introduction to The Review of Advanced Manipulation".

1.	Hikaru Arita,Hayato Nakamura,Takuto Fujiki,Kenji Tahara, Smoothly Connected Preemptive Impact Reduction and Contact Impedance Control, IEEE Transactions on Robotics, https://doi.org/10.1109/tro.2023.3286045, 39, 5, 1-13, 2023.07.
2.	Takuto Fujiki, Kenji Tahara, Series admittance–impedance controller for more robust and stable extension of force control, ROBOMECH Journal, 10.1186/s40648-022-00237-5, 9, 23, 2022.12.
3.	Ken Masuya,Kenji Tahara, Novel Twisted and Coiled Polymer Fiber Actuator Fabricated From Polymer-Coated Optical Fiber, IEEE Robotics and Automation Letters, https://doi.org/10.1109/LRA.2021.3070247, 6, 3, 2021.06, This study proposes a novel twisted and coiled polymer fiber (TCPF) actuator fabricated from a polymer-coated optical fiber. The TCPF actuator is a soft actuator that is driven by heating; the TCPF actuator in combination with a cooling system has been widely studied for applications in robotics. Sensing is a major issue in such units; in particular, temperature sensing is important for the safe usage of the TCPF. To achieve this, the electrical properties of the heating wire are typically utilized. However, this method is affected by the input voltage noise because the circuit used for actuation is the same as that used for sensing. To separate these circuits, this study developed a temperature-sensing method for the TCPF based on an optical fiber. For propagating only the heat of the polymer to the optical fiber, we embedded the optical fiber in the TCPF. This study experimentally demonstrated that the TCPF actuator fabricated using the polymer-coated optical fiber can be driven by heating. Furthermore, using the developed sensing method, we achieved temperature and force control under isometric conditions..
4.	Takuto Fujiki, Kenji Tahara, Numerical Simulations of A Novel Force Controller Serially Combining The Admittance and Impedance Controllers, IEEE ICRA 2021, 2021.06.
5.	Seung hyun Choi, Kenji Tahara, Dexterous object manipulation by a multi-fingered robotic hand with visual-tactile fingertip sensors, ROBOMECH Journal, 10.1186/s40648-020-00162-5, 7, 1, 2020.03, © 2020, The Author(s). In this paper, a novel visual-tactile sensor is proposed; additionally, an object manipulation method for a multi-fingered robotic hand grasping an object is proposed by detecting a contact position using the visual-tactile sensor. The visual-tactile sensor is composed of a hemispheric fingertip made of soft silicone with a hollow interior and a general USB camera located inside the fingertip to detect the displacement of the many point markers embedded in the silicone. The deformation of each point marker due to a contact force is measured, and a contact position is estimated reliably through a novel method of creating virtual points to determine the point clouds. The aim is to demonstrate both the estimation performance of the new visual-tactile sensor and its usefulness in a grasping and manipulation task. By using the contact position obtained from the proposed sensor and the position of each fingertip obtained from kinematics, the position and orientation of a grasped object are estimated and controlled. The effectiveness of the method is illustrated through numerical simulation and its practical use is demonstrated through grasping and manipulating experiments..
6.	A Robust Motor Control Strategy against Time-delays and Noises -Motor Intelligence on Open Environments-.
7.	Ken Masuya, Shu Ono, Kentaro Takagi, Kenji Tahara, Feedforward control of twisted and coiled polymer actuator based on a macroscopic nonlinear model focusing on energy, IEEE Robotics and Automation Letters, 10.1109/LRA.2018.2801884, 3, 3, 1824-1831, 2018.07, © 2016 IEEE. This letter proposes a feedforward (FF) controller for the twisted and coiled polymer actuator (TCPA), the so-called fishing line/sewing thread artificial muscle, based on its macroscopic nonlinear model. TCPA is an artificial muscle, and it contracts up to 50% in response to heating. Although several methods considering Joule heating as the input have been proposed to control the TCPA displacement, the FF controller based on the linear model shows the nonnegligible offset error. Therefore, the FF controller should be designed based on a nonlinear model, e.g., the model constructed by the authors. However, computing the inverse of the nonlinear model for the FF controller is difficult. Even if the inverse can be computed under static conditions, the problem of how to compensate the dynamics still remains. For this problem, we compensate the dynamics based on the idea of the Hammerstein model, namely we divide the inverse dynamics into the nonlinear transformation part and linear dynamics part. The former part consists of a converter from the displacement to temperature and a ratio adjuster for the squared voltage. Meanwhile, the latter is represented by the linear model of TCPA temperature. Through experiments, it is verified that the proposed FF controller can reduce the offset error of the displacement compared with the linear controller..
8.	A Brief Survey on Control of Multi-fingered Robotic Hand.
9.	Y. Matsutani, K. Tahara, H. Kino, H. Ochi, Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay, Advanced Robotics, 10.1080/01691864.2018.1453375, 32, 8, 411-425, 2018.04, This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method..
10.	Y. Matsutani, K. Tahara, H. Kino, H. Ochi, Complementary compound set-point control by combining muscular internal force feedforward control and sensory feedback control including a time delay, Advanced Robotics, 10.1080/01691864.2018.1453375, 32, 8, 411-425, 2018.04, This paper proposes a new set-point control method for a musculoskeletal arm by combining muscular internal force feedforward control with feedback control including a large time delay. The proposed method accomplishes robust and rapid positioning with a relatively small muscular force. In the positioning by the muscular internal force feedforward controller, a large muscular force is required to achieve good performance. On the other hand, in the positioning by the feedback controller including the large time delay, the system can easily fall into an unstable state. A simple linear combination of these two controllers makes it possible to improve the control performance and to overcome the drawbacks of each controller in a complementary manner. First, a two-link six-muscle arm model is considered as a musculoskeletal system in this study. Second, the new set-point control method, which consists of the feedforward control signal and the feedback control signal including the time delay, is designed. Third, the stability of the proposed method is investigated using the Lyapunov–Razumikhin method. Finally, the results of numerical simulations and experiments are presented to demonstrate the advantages of the proposed method..
11.	Miao Li, Kenji Tahara, Aude Billard, Learning task manifolds for constrained object manipulation, Autonomous Robots, 10.1007/s10514-017-9643-z, 42, 1, 159-174, 2018.01, Reliable physical interaction is essential for many important challenges in robotic manipulation. In this paper, we consider Constrained Object Manipulations tasks (COM), i.e. tasks for which constraints are imposed on the grasped object rather than on the robot’s configuration. To enable robust physical interaction with the environment, this paper presents a manifold learning approach to encode the COM task as a vector field. This representation enables an intuitive task-consistent adaptation based on an object-level impedance controller. Simulations and experimental evaluations demonstrate the effectiveness of our approach for several typical COM tasks, including dexterous manipulation and contour following..
12.	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 A-PHYSICAL, 10.1016/j.sna.2017.10.016, 267, 443-454, 2017.11, In this paper, a nonlinear dynamics model of the twisted and coiled polymer actuator (TCPA) driven by Joule heating is proposed. TCPA is an actuator based on the phenomenon that the twisted and coiled polymer contracts by heating. TCPA has received considerable research attention after the discovery of this phenomenon. Although several conventional models were proposed to explain TCPA behavior, they do not address several characteristics of a real TCPA, namely, the delay of the displacement to the temperature, temperature behavior to the input (Joule heating), and effect of the convective heat transfer on the relationship between the displacement and temperature. The macroscopic modeling framework presented herein explains these properties. The main ideas of the proposed model are (1) the energy relating to TCPA, and (2) the temperature and velocity dependence of the convective heat transfer coefficient. Experiments were conducted for three kinds of TCPA. It was verified that the proposed model is more viable than a conventional model. In particular, the proposed model reduced the prediction errors of the displacement by more than 50% compared with the conventional model. (C) 2017 Elsevier B.V. All rights reserved..
13.	Ryuta Ozawa, Kenji Tahara, Grasp and dexterous manipulation of multi-fingered robotic hands: a review from a control view point, ADVANCED ROBOTICS, 10.1080/01691864.2017.1365011, 31, 19-20, 1030-1050, 2017.04, Manipulation is one of the most important fields in robotics. Nevertheless, even given the long history of manipulation research, technologies for multi-fingered robotic hands are still in development. This paper investigates past research studies on control systems of multi-fingered robotic hands for grasping and manipulation..
14.	むだ時間を含む感覚フィードバックと筋内力フィードフォワードの相補的組み合わせによる筋骨格アームの位置制御 In this paper, a new set-point control method for a musculoskeletal system by combining a feedback control including a large time-delay with a muscular internal force feedforward control is proposed to accomplish a robust and rapid positioning with relatively low muscular contraction forces. It is known that feedback control under the existence of a large time-delay owns a drawback that there is a serious trade-off between a control performance and its stability. On the other hand, the muscular internal force feedforward control, which we have already proposed, also owns a drawback that it requires a large muscular contraction forces to make a good performance in a wide range. A simple linear combination of these two controllers makes it possible to improve the control performance and to complement each drawbacks each other. Firstly a two-link six-muscle arm model is given as a specific musculoskeletal system treated in this study. Secondly the new control law, which is composed of the feedback control signal including the time-delay and the internal force feedforward control signal, is constructed by only using a kinematic information of the musculoskeletal arm model. Next, a stability of the proposed method is discussed using Lyapunov-Razumikhin method. After that, results of several numerical simulations are shown to demonstrate several advantages of the proposed method..
15.	Akihiro Kawamura, Kenji Tahara, Ryo Kurazume, Tsutomu Hasegawa, Dynamic grasping of an arbitrary polyhedral object, ROBOTICA, 10.1017/S0263574712000525, 31, 4, 511-523, 2013.07, This paper proposes a novel dynamic stable grasping method of an arbitrary polyhedral object for a hand-arm system with hemispherical fingertips. This method makes it possible to satisfy the force/torque equilibrium condition for the immobilization of the object without knowledge of the object. Two control signals are proposed which generate grasping forces normal and tangential to an object surface in a final state. The dynamics of the overall system is modeled and analyzed theoretically. We demonstrate the stable grasping of an arbitrary polyhedral object using the proposed controller through numerical simulations and experiments using a newly developed mechanical hand-arm system..
16.	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.
17.	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.
18.	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.
19.	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.
20.	Sensory Feedback for Stable Grasping and Posture Control by using a Pair of Minimum-DOF Robot Fingers with Soft Tips This paper firstly derives and analyzes non-linear dynamics of pinch motions generated by a pair of robot fingers (1 D.O.F. and 2 D.O.F.) with soft tips and finds a feedback control signal for stable grasping and posture control of a rigid object based on passivity analysis. It is shown that measurements of rotation angle of the object by means of optical devices play a crucial role in construction of such feedback signals. Secondly, results of computer simulation by using the derived non-linear differencial equations with geometric constraints and results of experiments by using such robot fingers are presented. Then, usefulness of this control method is discussed from the practical viewpoint..
21.	Dynamic Stable Pinching and Orientation Control by a Pair of Robot Fingers This paper firstly shows Lagrange's equation of a pair of robot fingers with hemishperical tips pinching a rigid object under four geometric constraints. In derivation of the equation, it is assumed that the rigid object has two parallel flat surfaces, motion of the overall system is confined to a horizontal plane and the effect of gravity is ignored. It is then shown that there exists a sensory feedback signal not only for secure pinching with the desired contact force but also for control the object orientation at a specified rotational angle. It is also shown that the method of computer simulation based on the non-linear differential equation with four geometric constraints is discussed together with presenting some computational results..

1.	Ha Thang Long Doan, Hikaru Arita, Kenji Tahara, External Sensor-Less in-Hand Object Position Manipulation for an Under-Actuated Hand Using Data-Driven-Based Methods to Compensate for the Nonlinearity of Self-Locking Mechanism, IEEE/RSJ IROS2023, 2023.10.
2.	Ha Thang Long Doan, Kenji Tahara , Data-driven-based Stable Object Grasping for a Triple-fingered Under-actuated Robotic Hand, IEEE SII2023, 2023.01.
3.	Shoki Tsuboi, Hitoshi Kino, Kenji Tahara, End-Point stiffness and joint viscosity control of musculoskeletal robotic arm using muscle redundancy, IEEE/RSJ IROS2022, 2022.10.
4.	Ha Thang Long Doan, Kenji Tahara, Fingertip contact detection for a multi-fingered under-actuated robotic hand using density-based clustering method, ROBOMECH2022, 2022.06.
5.	Sensorless Torque Control for Antagonistically Arranged Rotational-Type Twisted Polymeric Fiber Actuators.
6.	End-Point Stiffness Control for a Tendon-Driven Redundant Manipulator with Musculoskeletal Structure.
7.	Takuto Fujiki,Kenji Tahara, Numerical simulations of a novel force controller serially combining the admittance and impedance controllers, IEEE ICRA2021, 2021.06.
8.	Transition Movement Control between Wheel and Walking Movement for a Biped Robot with Hemispheric Feet.
9.	External sensorless object-orientation control using contact position estimation by the multi-fingered robot hand.
10.	Environmental Adaptability of Admittance and Impedance Control with Independent Anisotropic Rigidity.
11.	Sumitaka Honji, Kenji Tahara, Dynamic Modeling and Joint Design of a Cable Driven Soft Gripper, 2020 IEEE International Conference on Soft Robotics, 2020.05.
12.	Seunghyun Choi, Kenji Tahara, Development of a Visual-Tactile Fingertip Sensor and an Object Manipulation Method using a Multi-Fingered Robotic Hand, 2020 IEEE/SICE International Symposium on System Integration, SII 2020, 2020.01, In this paper, a novel visual-tactile sensor is proposed and an object manipulation method of a grasped object by a multi-fingered robotic hand is proposed by detecting a contact position using the visual-tactile sensor. The visual-tactile sensor is composed of a hemispheric fingertip part made of soft silicone with hollow inside and a general USB camera located at the inside of the fingertip to detect the displacement of many point markers embedded in the silicone. The deformation of each point marker due to a contact force is measured and a contact position is estimated in stable through a novel method of creating virtual points in figuring out the point clouds. Not only to demonstrate the estimation performance of the new visual-tactile sensor itself, but its practical usefulness in a grasping and manipulation task is also illustrated as well. By using a contact position obtained from the proposed sensor and the position of each fingertip obtained from kinematics, the position and orientation of a grasped object are estimated and controlled. Its performance is demonstrated through numerical simulation results..
13.	Yuki Matsutani, Kenji Tahara, Hitoshi Kino, Hiroaki Ochi, Stiffness evaluation of a tendon-driven robot with variable joint stiffness mechanisms, 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017, 2017.12, This paper proposes a new tendon-driven robot with variable joint stiffness mechanisms. The tendon-driven robot is able to vary the stiffness of joints by sliding variable stiffness mechanisms over the link by wire tensions. As a reason for that structure and moment arms of the tendon-driven robot are changed depending on the position of the variable mechanism. Thus in this paper, the tendon-driven robot with variable stiffness mechanisms is designed, and the stiffness of the tendon-driven robot is evaluated by using a stiffness ellipsoid..
14.	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, AIM 2017, 2017.08, This paper proposes a novel dynamics model of the twisted and coiled polymer actuator (TCPA) which is one of the artificial muscles recently discovered. It can be driven by Joule heating and can contract up to 25%. Most of the conventional works employed the linear model of TCPA which represents the relationships between the input voltage, the temperature, and the displacement, but the real TCPA shows the nonlinearity. Although a nonlinear model was proposed based on the curve fitting, it is difficult to apply the model to the various TCPAs. Additionally, the conventional works cannot explain the effect of the convective heat transfer condition on the displacement behavior of TCPA. This paper aims to construct a general nonlinear model of TCPA based on the following two ideas: (1) The energy balance of TCPA and (2) the temperature and velocity dependence of the heat transfer coefficient. The temperature model is obtained from the time derivative of the energy balance, and the displacement model is derived as Lagrange's equation of motion with the dissipation function. Through experiments, it is verified that the proposed model is closer to the real dynamics than the conventional linear model..
15.	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 Conference of the Industrial Electronics Society, IECON 2016, 2016.12, In this paper, our previously proposed set-point control method for a musculoskeletal system is improved to reduce required muscular forces and to avoid a saturation of muscular forces during movement. The previous method is robust against a considerable time-delay in sensory information, but it still requires large muscular forces to accomplish a desired position, and the maximum exertable muscular force has not yet been taken into consideration. To cope with these two issues, two variable parameters are newly introduced. One is for changing the combination ratio of feed-forward and feedback controllers to reduce necessary muscular forces. The other is for avoiding the saturation of muscular forces during movement The effectiveness of the proposed controller is demonstrated through several numerical simulation results..
16.	Takeshi Arakawa, Kentaro Takagi, Kenji Tahara, Kinji Asaka, Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread, SIPE, 2016.03.
17.	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.
18.	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.
19.	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.
20.	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, AIM 2014, 2014.07, This paper proposes a novel two-link planar manipulator with continuously variable transmission (CVT) mechanism by means of plural linear shaft motors. In our previous works, we have proposed the parallel-link manipulator with the CVT mechanism which has two orthogonal DOFs. However, its configuration is not useful for a practical field because only one main link can be rotated around two joints like a joystick. In order for this mechanism to be more useful, the two-link planar type manipulator with the CVT is newly modeled and developed. Firstly, the proposed manipulator is modeled, and its control signals are designed. Next, the output force of the end-point of the manipulator is evaluated by using both the Manipulating-Force Ellipsoid and the Dynamic Manipulability Ellipsoid. After that, several fundamental experiments are performed to evaluate the CVT mechanism and show the effectiveness of the proposed manipulator..
21.	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.
22.	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.
23.	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.
24.	K. Tahara, K. Maruta, A. Kawamura and M. Yamamoto, Externally sensorless dynamic regrasping and manipulation by a triple-fingered robotic hand with torsional fingertip joints, IEEE Int. Conf. Robot. Automat., 2012.05.
25.	A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa, Robust manipulation for temporary lack of sensory information by a multi-fingered hand-arm system, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2011.09.
26.	K. Tahara, S. Iwasa, S. Naba and M. Yamamoto, High-backdrivable parallel-link manipulator with continuously variable transmission, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2011.09.
27.	K. Tahara and S. Arimoto, Iterative learinig scheme for a redundant manipulator: Skilled hand writing motion on an arbitrary smooth surface, IEEE Int. Conf. Robot. Automat., 2011.05.
28.	K. Tahara and H. Kino, Iterative learning control for a redundant musculoskeletal arm: Acquisition of adequate internal force, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2010.10.
29.	K. Matsuo, K. Murakami, K. Niwaki, T. Hasegawa, K. Tahara and Ryo Kurazume, A tactile sensing for estimating the position and orientation of a joint-axis of a linked object, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2010.10.
30.	K. Tahara, K. Maruta and M. Yamamoto, External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion, IEEE Int. Conf. Robot. Automat., 2010.05.
31.	K. Tahara, S. Arimoto and M. Yoshida, Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand, IEEE Int. Conf. Robot. Automat., 2010.05.
32.	K. Matsuo, K. Murakami, T. Hasegawa, K. Tahara and R. Kurazume, Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2009.10.
33.	M. Yoshida, S. Arimoto and K. Tahara, Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2009.10.
34.	A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa, Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2009.10.
35.	K. Tahara, S. Arimoto and M. Yoshida, Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2009.10.
36.	M. Yoshida, S. Arimoto and K. Tahara, Modeling and control of a pair of robot fingers with saddle joint under orderless actuations, IEEE Int. Conf. Robot. Automat., 2009.05.
37.	H. Kino, S. Kikuchi, T. Yahiro and K. Tahara, Basic study of biarticular muscle’s effect on muscular internal force control based on physiological hypotheses, IEEE Int. Conf. Robot. Automat., 2009.05.
38.	S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara, A Riemannian-Geometry approach for dynamics and control of object manipulation under constraints, IEEE Int. Conf. Robot. Automat., 2009.05.
39.	K. Tahara, S. Arimoto and M. Yoshida, Dynamic object grasping by a triple-fingered robotic hand, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2008.09.
40.	K. Tahara, S. Arimoto, M. Sekimoto, M. Yoshida and Z.W. Luo, On iterative learning control for simultaneous force/position trajectory tracking by using a 5 d.o.f. robotic thumb under non-holonomic rolling constraints, IEEE Int. Conf. Robot. Automat., 2008.05.
41.	K. Tahara, S. Arimoto, Z.W. Luo and M. Yoshida, On control for "Blind Touching" by human-like thumb robots, IEEE Int. Conf. Robot. Automat., 2007.04.
42.	M. Onishi, Z.W. Luo, S. Hirano, K. Tahara and T. Mukai, Generation of human care behaviors by human-interactive robot RI-MAN, IEEE Int. Conf. Robot. Automat., 2007.04.
43.	K. Tahara, Z.W. Luo and S. Arimoto, On control mechanism of human-like reaching movements with musculo-skeletal redundancy, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2006.10.
44.	T. Odashima, M. Onishi, K. Tahara, K. Takagi, F. Asano, Y. Kato, H. Nakashima, Y. Kobayashi, T. Mukai, Z.W. Luo and S. Hosoe, A soft human-interactive robot RI-MAN, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2006.10.
45.	K. Tahara, Z.W. Luo, R. Ozawa, J.-H. Bae and S. Arimoto, Bio-mimetic study on pinching motions of a dual-finger model with synergistic actuation of antagonist muscles, IEEE Int. Conf. Robot. Automat., 2006.05.
46.	K. Tahara, Z.W. Luo, S. Arimoto and H. Kino, Sensory-motor control of a muscle redundant arm for reaching movements -Convergence analysis and gravity compensation-, IEEE/RSJ Int. Conf. Intell. Robots, Syst., 2005.08.
47.	K. Tahara, Z.W. Luo, S. Arimoto and H. Kino, Task-space feedback control for a two-link arm driven by six muscles with variable damping and elastic properties, IEEE Int. Conf. Robot. Automat., 2005.04.