- Mar. 1998, B. E. degree in Mechanical Engineering, Ritsumeikan University
- Mar. 2000, M. E. degree in Information Science and Systems Engineering, Ritsumeikan University
- Mar. 2003, Ph. D. degree in Robotics, Ritsumeikan University
CAREER
- Apr. 2000 - Mar. 2002, Research Assistant, Department of Robotics, Ritsumeikan University
- Apr. 2002 - Mar. 2003, Research Associate, Department of Robotics, Ritsumeikan University
- Apr. 2003 - Mar. 2007, Research Scientist, Environment Adaptive Robotic Systems Lab., BMC Research Center, RIKEN
- Apr. 2007 - Sep. 2008, Guest Researcher, Environment Adaptive Robotic Systems Lab., BMC Research Group, RIKEN
- Apr. 2007 - Sep. 2009, SSP Researcher, Organization for the Promotion of Advanced Research, Kyushu University
- Oct. 2009 - Present, Associate Professor, Institute for Advanced Study, Kyushu University
- Apr. 2007 - Present, Associate Professor, Faculty of Information Science and Electrical Engineering, Kyushu University
- Jan. 2009 - Present, Guest Researcher, Robot Control Research Team, RIKEN-TRI Collaboration Center for Human-Interactive Robot Research, RIKEN
PUBLICATIONS
- K. Tahara, S. Arimoto, R. Ozawa and Z.W. Luo,
"Bio-mimetic pinching movements of musculo-skeletal dual finger model,"
Advanced Robotics, 2010. (accepted)
- 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.
- 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.
- H. Kino, T. Yahiro, S. Taniguchi and K. Tahara,
"Sensorless position control using feedforward internal force for completely restrained parallel-wire-driven systems,"
IEEE Transactions on Robotics, vol. 25, issue 2, pp. 467--474, 2009.
- S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
"Modeling and control of 2-D grasping of an object with arbitrary shape under rolling contact,"
SICE Journal of Control, Measurement, and System Integration, vol. 2, no. 6, pp. 379--386, 2009.
- S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
"A Riemannian-geometry approach for control of robotic systems under constraints,"
SICE Journal of Control, Measurement, and System Integration, vol. 2, no. 2, pp. 107--116, 2009.
- S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
"A Riemannian-geometry approach for modeling and control of dynamics of object manipulation under constraints,"
Journal of Robotics, vol. 2009, Article ID: 892801, 2009.
- K. Tahara, S. Arimoto, M. Yoshida and Z.W. Luo,
"Proprioceptive touching control using a soft robotic thumb with 3-D rolling contact,"
Transactions of the Society of Instrument and Control Engineers (SICE), vol. 44, no. 6, pp. 532--540, 2008. (in Japanese)
- K. Tahara, Z.W. Luo, R. Ozawa and S. Arimoto,
"On dynamic pinching movements of redundant musculo-skeletal dual finger model,"
Journal of Robotics Society of Japan, vol. 26, no. 1, pp. 57--67, 2008. (in Japanese)
- T. Odashima, M. Onishi, K. Tahara, T. Mukai, S. Hirano, Z.W. Luo and S. Hosoe,
"Development and evaluation of a human-interactive robot platform "RI-MAN","
Journal of Robotics Society of Japan (RSJ), vol. 25, no. 4, pp. 554--565, 2007. (in Japanese)
- K. Tahara, Z.W. Luo and S. Arimoto,
"Human-like reaching movements of a redundant musculo-skeletal system with nonlinear muscle dynamics,"
Transactions of the Institute of Systems, Control and Information Engineers (ISCIE), vol. 19, no. 8, pp. 301--308, 2006. (in Japanese)
- 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.
- 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 sensory-motor coordination,"
Journal of Robotic Systems, vol. 20, no. 9, pp. 517--537, 2003.
- K. Tahara, J.-H. Bae and S. Arimoto,
"Dynamic stable pinching and orientation control by a pair of robot fingers,"
Transactions of the Institute of Systems, Control and Information Engineers (ISCIE), vol. 16, no. 6, pp. 253--259, 2003. (in Japanese)
- K. Tahara, M. Yamaguchi and S. Arimoto,
"Sensory feedback for stable grasping and posture control by using a pair of minimum-dof robot fingers with soft tips,"
Journal of Robotics Society of Japan (RSJ), vol. 21, no. 7, pp. 67--73, 2003. (in Japanese)
- 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.
- 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. 21--28, 2001.
International
- K. Tahara, K. Maruta and M. Yamamoto,
"External sensorless dynamic object manipulation by a dual soft-fingered robotic hand with torsional fingertip motion,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'10), Anchorage, AK, May 2010. (to appear)
- K. Tahara, S. Arimoto and M. Yoshida,
"Dynamic object manipulation using a virtual frame by a triple soft-fingered robotic hand,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'10), Anchorage, AK, May 2010. (to appear)
- K. Tahara, S. Arimoto and M. Yoshida,
"Dynamic force/torque equilibrium for stable grasping by a triple robotic fingers system,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 2257--2263, St. Louis, MO, Oct. 2009.
- A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
"Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm System,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 2264--2270, St. Louis, MO, Oct. 2009.
- M. Yoshida, S. Arimoto and K. Tahara,
"Pinching 2D object with arbitrary shape by two robot fingers under rolling constraints,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 1805--1810, St. Louis, MO, Oct. 2009.
- 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,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'09), pp. 1767--1772, St. Louis, MO, Oct. 2009.
- S. Arimoto, M. Yoshida, M. Sekimoto, K. Tahara and J.-H. Bae,
"Modeling and control for 2-D grasping of an object with arbitrary shape under rolling contact,"
Proc. IFAC Symp. Robot Control (SYROCO'09), Gifu, Japan, Sep. 2009.
- M. Yoshida, S. Arimoto and K. Tahara,
"Manipulation of 2D object with arbitrary shape by two robot finger under rolling constraint,"
Proc. ICROS-SICE Int. Joint Conf. (ICCAS-SICE'09), Fukuoka, Japan, Aug. 2009.
- M. Yoshida, S. Arimoto and K. Tahara,
"Modeling and control of pinching 2D object with arbitrary shape by a pair of robot fingers under rolling constraints,"
Proc. Multibody Dynamics, ECCOMAS Thematic Conf., Warsaw, Poland, Jun. 2009.
- A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
"Simple orientation control of an object by regrasping using a dual-arm manipulator with multi-fingered hands,"
Proc. Int. Conf. Adv. Robot. (ICAR'09), 98, Munich, Germany, Jun. 2009.
- K. Matsuo, K. Murakami, T. Hasegawa, K. Tahara and R. Kurazume,
"Measurement of static constraints imposed by a human hand on a grasped objects,"
Proc. Int. Conf. Adv. Robot. (ICAR'09), 106, Munich, Germany, Jun. 2009.
- S. Arimoto, M. Yoshida, M. Sekimoto and K. Tahara,
"A Riemannian-Geometry approach for dynamics and control of object manipulation under constraints,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'09), pp. 1683--1690, Kobe, Japan, May 2009.
- M. Yoshida, S. Arimoto and K. Tahara,
"Modeling and control of a pair of robot fingers with saddle joint under orderless actuations,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'09), pp. 2499--2505, Kobe, Japan, May 2009.
- 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,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'09), pp. 4195--4200, Kobe, Japan, May 2009.
- K. Tahara, S. Arimoto and M. Yoshida,
"Dynamic object grasping by a triple-fingered robotic hand,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'08), pp. 2685--2690, Nice, France, Sep. 2008.
- 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 no. -holono. ic rolling constraints,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'08), pp. 2611--2616, Pasadena, CA, May 2008.
- Y. Itoh, K. Tahara, K. Takagi, M. Yoshida, Z.W. Luo, K, Akataki and K. Mita,
"Amplitude properties of mechano. yogram with stimulation intensity during single twitch contraction produced by electrical stimulation,"
Proc. Int. Symp. Biol. Physiol. Eng. / SICE Symp. Biol. Physiol Eng., pp. 94--95, Harbin, China, Jan. 2008.
- K. Tahara, S. Arimoto, Z.W. Luo and M. Yoshida,
"On control for "Blind Touching" by human-like thumb robots,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'07), pp. 592--598, Rome, Italy, Apr. 2007.
A Finalist of Best Manipulation Paper Award in ICRA'07
- M. Onishi, Z.W. Luo, S. Hirano. K. Tahara and T. Mukai,
"Generation of human care behaviors by human-interactive robot RI-MAN,"
Video Proc. IEEE Int. Conf. Robot. Automat. (ICRA'07), pp. 3128--3129, Rome, Italy, Apr. 2007.
- K. Tahara, Z.W. Luo and S. Arimoto,
"On control mechanism of human-like reaching movements with musculo-skeletal redundancy,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'06), pp. 1402--1409, Beijing, China, Oct. 2006.
- 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,"
Video Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'06), v018, Beijing, China, Oct. 2006.
- K. Tahara, Z.W. Luo and S. Arimoto,
"On control strategy of a redundant musculo-skeletal arm system,"
Proc. the 3rd Conf. Artificial Muscles, Tokyo, Japan, May. 2006.
- 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,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'06), pp. 994--999, Orlando, FL, May. 2006.
A Finalist of Best Manipulation Paper Award in ICRA'06
- 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-,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'05), pp. 1885--1891, Edmonton, Canada, Aug. 2005.
- 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,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'05), pp. 224--229, Barcelona, Spain, Apr. 2005.
- K. Takagi, Z.W. Luo, K. Asaka and K. Tahara,
"Limited-angle motor using ionic polymer metal composite,"
Proc. SPIE (Smart Structures and Materials), Mar. 2005.
- K. Tahara, Z.W. Luo, S. Arimoto and H. Kino.
"Dynamic simulation of redundant musculo-skeletal control system,"
Proc. Int. Symp. Human, Artificial Intell. Syst. (HART'04), pp. 155--160, Fukui, Japan, Dec. 2004.
- F. Asano. Z.W. Luo, M. Yamakita, K. Tahara and S. Hosoe,
"Bio-mimetic control for whole arm cooperative manipulation,"
IEEE SMC'2004 Conf. Proc., pp. 704--709, Hague, Netherlands, Oct. 2004.
- F. Asano. Z.W. Luo, K. Tahara, M. Yamakita and S. Hosoe,
"Modeling and control for whole arm dynamic cooperative manipulation,"
Proc. IEEE/RSJ Int. Conf. Intell. Robots, Syst. (IROS'04), pp. 3282--3287, Sendai, Japan, Oct. 2004.
- K. Tahara, Z.W. Luo, T. Odashima, M. Onishi, F. Asano. and A. Kato,
"Modeling and dynamic simulation of super-redundant musculo-skeletal system,"
Proc. CSIMTA, Complex Syst., Intell., Modern Technological Applications, pp. 503--508, Cherbourg, France, Sep. 2004.
- K. Tahara, Z.W. Luo, T. Odashima, M. Onishi, S. Hosoe and A. Kato,
"Dynamic control and simulation of human musculo-skeletal model,"
Proc. SICE Annual Conf., pp. 2395--2398, Sapporo, Japan, Aug. 2004.
- K. Tahara, T. Odashima, M. Onishi, F. Asano. Z.W. Luo and S. Hosoe,
"Development of a dynamic human movement analysis platform,"
Proc. the 2nd Conf. Artificial Muscles, Osaka, Japan, May 2004.
- S. Arimoto, J.H. Bae and K. Tahara,
"Stability on a manifold: simultaneous realization of grasp and orientation control of an object by a pair of robot fingers,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'03), pp. 2336--2343, Taipei, Taiwan, Sep. 2003.
- S. Arimoto, J.H. Bae, M. Yoshida and K. Tahara,
"Stability on a manifold: concurrent control for secure grasp and manipulation of a rigid object by dual robot fingers,"
Proc. IFAC Symp. Robot Control (SYROCO'03), vol. 2, pp. 399--404, Wroclaw, Poland, Sep. 2003.
- S. Nakamura, K. Tahara J.H. Bae, M. Sekimoto and S. Arimoto,
"Experiments of grasping and object-manipulation by a pair of multi-degree of freedom robot fingers,"
Proc. IEEE Int. Symp. Computational Intell. Robot. Automat. (CIRA'03), SA2-IV-4, pp. 1219--1226, Kobe, Japan, Jul. 2003.
- J.H. Bae, K. Tahara, S. Nakamura and S. Arimoto,
"Computer simulation of grasping and object-manipulation by a pair of multi-degree of freedom robot fingers,"
Proc. IEEE Int. Symp. Computational Intell. Robot. Automat. (CIRA'03), SA2-II-1, pp. 1162--1167, Kobe, Japan, Jul. 2003.
- S. Arimoto, J.H. Bae and K. Tahara,
"Dynamic stable pinching by a pair of robot fingers,"
Proc. IFAC Conf. Mechatronic Syst., pp. 731--736, Berkeley, CA, Dec. 2002.
- K. Tahara, M. Yamaguchi, J.H. Bae, S. Nakamura and S. Arimoto,
"Experimental results of dymanic stable grasping by a pair of robot fingers with soft tips,"
Proc. Japan-USA Symp. Flexible Automat., pp. 791--797, Hiroshima, Japan, Jul. 2002.
- S. Arimoto, K. Tahara and M. Yamaguchi,
"Existence of feedbacks from sensing to action for stable grasping and dexterous manipulation by multi-fingered robot hands,"
Proc. IEEE Int. Conf. Control Applications, Mexico City, Mexico, Sep. 2001.
- H.Y. Han, S. Arimoto, K. Tahara, M. Yamaguchi and P.T.A. Nguyen,
"Robotic pinching by means of a pair of robot fingers with sensory feedback,"
Proc. IEEE Int. Conf. Robot. Automat. (ICRA'01), pp. 97--102, Seoul, Korea, May 2001.
- S. Arimoto, M. Yamaguchi, H.Y. Han, K. Tahara and P.T.A. Nguyen,
"Sensory feedback for dynamic stable pinching by means of a pair of soft fingers,"
Proc. the 32nd Int. Symp. Robotics, Seoul, Korea, Apr. 2001.
- S. Arimoto, K. Tahara, S. Hirai, M. Yamaguchi and H.Y. Han,
"Sensory feedback for secure grasping by a pair of robot fingers with soft tips,"
Proc. Int. Workshop of Morpho-function Machines, Tokyo, Japan, Mar. 2001.
- K. Tahara, M. Yamaguchi, P.T.A. Nguyen, H.Y. Han and S. Arimoto,
"Stable grasping and posture control for a pair of robot fingers with soft tips,"
Proc. Int. Conf. Machine Automation (ICMA'00), pp. 33--38, Osaka, Japan, Sep. 2000.
- 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,"
Proc. IFAC Symp. Robot Control 2000 (SYROCO'00), pp. 421--426, Wien, Austry, Sep. 2000.
Domestic (in Japanese)
- A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
"Sensory feedback control for the attitude of a grasped object by a multi-fingered hand-arm system"
Proc. of the 15th Robotics Symposia, Yoshino, Mar. 2010. (to appear)
- M. Yoshida, S. Arimoto and K. Tahara,
"Numerical simulation of pinching an object with arbitrary shape expressed by points interpolation",
Proc. of the 10th SICE System Integration Division Annual Conference, pp.1367-1370, Tokyo, Dec. 2009.
- K. Tahara, K. Maruta and M. Yamamoto,
"Modeling and control of a dual soft-fingered robotic hand with torsional fingertip joints,"
Proc. of the 27th Annual Conference of the Robotics Society of Japan, 1A1-06, Yokohama, Sep. 2009.
- K. Tahara, S. Arimoto and M. Yoshida,
"Object position and orientation control using a virtual frame by a triple soft-fingered robotic hand,"
Proc. of the 27th Annual Conference of the Robotics Society of Japan, 3A1-05, Yokohama, Sep. 2009.
- K. Tahara and H. Kino,
"Acquisition of adequate internal forces for a musculo-skeletal system using an iterative learning and its evaluation by a dynamic damping ellipsoid,"
Proc. of the 27th Annual Conference of the Robotics Society of Japan, 2K1-06, Yokohama, Sep. 2009.
- M. Yoshida, S. Arimoto and K. Tahara,
"Numerical simulator design for pinching a 2D object with ellipsoidal shape,"
Proc. of the 27th Annual Conference of the Robotics Society of Japan, 3A2-01, Yokohama, Sep. 2009.
- S. Kikuchi, H. Kino and K. Tahara,
"Determination method of internal force using genetic algorithm for feedforward positioning of musculoskeletal system,"
Proc. of the 27th Annual Conference of the Robotics Society of Japan, 2K1-05, Yokohama, Sep. 2009.
- K. Tahara, K. Maruta and M. Yamamoto,
"Development of a soft-fingered robotic hand with torsional motion of fingertips,"
Proc. of 2009 JSME Conference on Robotics and Mechatoronics, 2A2-A14(1-4), Fukuoka, May 2009.
- A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
"Dynamic grasping for an arbitrary polyhedral object by a multi-fingered hand-arm system,"
Proc. of 2009 JSME Conference on Robotics and Mechatoronics, 2A2-A16(1-4), Fukuoka, May 2009.
- K. Tahara, A. Matsuo and M. Yamamoto,
"Experimental verifcation for blind touching control using a soft-fingered robotic thumb,"
Proc. of 2009 JSME Conference on Robotics and Mechatoronics, 2A2-B03(1-3), Fukuoka, May 2009.
- K. Tahara, S. Arimoto and M. Yoshida,
"Dynamic force/torque equilibrium for stable object grasping using a triple-fingered robotic hand"
Proc. of the 14th Robotics Symposia, pp. 266-273, Noboribetsu, Mar. 2009.
- M. Yoshida, S. Arimoto and K. Tahara,
"Modeling and control of pinching 2D object with arbitrary shape under rolling contacts,"
Proc. of the 9th SICE System Integration Division Annual Conference, pp.317-318, Gifu, Dec. 2008.
- A. Matsuo, K. Tahara and M. Yamamoto,
"Experimental verifcation of external sensorless contact force/position control using robotic thumb,"
Proc. of the 9th SICE System Integration Division Annual Conference, pp.313-314, Gifu, Dec. 2008.
- A. Kawamura, K. Tahara, R. Kurazume and T. Hasegawa,
"Simple posture control of object by regrasping using dual-arm manipulator with multi robotic fingers,"
Proc. of the 9th SICE System Integration Division Annual Conference, pp.1197-1198, Gifu, Dec. 2008.
- K. Tahara, S. Arimoto and H. Kino,
"Joint damping control by internal force modulation of redundant muscles,"
Proc. of SICE Symposium on Systems and Information 2008, pp.207-210, Himeji, Nov. 2008.
- K. Takagi, K. Tahara, M. Yoshida, Y. Itoh, K. Mita and Z.W. Luo,
"Linear state space identification for muscle force and mechanomyogram responses of isometric twitch contraction,"
Proc. of the 23rd Symposium on Biological and Physiological Engineering, pp.191-194, Nagoya, Sep. 2008.
- K. Tahara, S. Arimoto and M. Yoshida,
"Dynamic object manipulation using triple soft robotic fingers,"
Proc. of the 26th Annual Conference of the Robotics Society of Japan, 1E2-07, Kobe, Sep. 2008.
- M. Yoshida, S. Arimoto, K. Tahara and Z.W. Luo,
"Object pinch by two robot fingers with soft tips and orderless saddle-joint actuations,"
Proc. of the 26th Annual Conference of the Robotics Society of Japan, 1E2-08, Kobe, Sep. 2008.
- K. Tahara and H. Kino,
"Dynamic damping ellipsoid on musculo-skeletal arm for internal force evaluation,"
Proc. of the 26th Annual Conference of the Robotics Society of Japan, 1I2-03, Kobe, Sep. 2008.
- H. Kino, S. Kikuchi, T. Yahiro and K. Tahara,
"Effect of biarticular muscle on muscular internal force control based on physiological hypotheses -The 1st report: basic study using potential fields-,"
Proc. of the 26th Annual Conference of the Robotics Society of Japan, 1I3-07, Kobe, Sep. 2008.
- K. Tahara, S. Arimoto, M. Sekimoto, M. Yoshida and Z.W. Luo,
"On Iterative Learning of Force/Position Control for Soft Thumb Robot,"
Proc. of the 25th Annual Conference of the Robotics Society of Japan, 2M11, Chiba, Sep. 2007.
- H. Kino, T. Yahiro, S. Yamasita, S. Taniguchi and K. Tahara,
"Feedforward positioning using desired internal force for fully constrained parallel wire driven system: The 2nd report, Study on frictional compensation,"
Proc. of the 12th Robotics Symposia, pp.214-219, Niigata, Mar. 2007.
- K. Tahara, S. Arimoto, Z.W. Luo and M. Yoshida,
"Realization of "Blind Touching" by a human-like thumb robot with 3-D rolling contact,"
Proc. of the 7th SICE System Integration Division Annual Conference, pp.1174-1175, Sapporo, Dec. 2006.
The Winner of Best Session Award in SI2006
- T. Odashima, K. Tahara and Z.W. Luo,
"Mechanical design and implementation of a nursing-care robot performing whole body manipulation,"
Proc. of the 7th SICE System Integration Division Annual Conference, pp.1168-1169, Sapporo, Dec. 2006.
- S. Hirano, T. Odashima, M. Onishi, K. Tahara, K. Takagi, T. Mukai and Z.W. Luo,
"Development of compound hierarchical distributed control network for RI-MAN,"
Proc. of the 7th SICE System Integration Division Annual Conference, pp.1158-1159, Sapporo, Dec. 2006.
- K. Tahara, S. Arimoto, Z.W. Luo and M. Sekimoto,
"On the relation between the co-contraction of antagonist muscles and the hand viscosity based on "Virtual Spring-Damper Hypothesis","
Proc. of the 49th Japan joint Automatic Control Conference, SU8-3-4, Kobe, Nov. 2006.
- K. Takagi, K. Tahara, Y. Itoh, K. Mita and Z.W. Luo,
"Time response analysis of muscle force and mechanomyogram using singular value decomposition method,"
Proc. of the 21st Symposium on Biological and Physiological Engineering, pp.355-358, Kagoshima, Nov. 2006.
- T. Odashima, M. Onishi, K. Tahara, T. Mukai, S. Hirano and Z.W. Luo,
"Development a human-interactive robot RI-MAN,"
Proc. of the 16th Intelligent System Symposium, 1B2-4, Kashiwa, Sep. 2006.
- K. Tahara, Z.W. Luo, R. Ozawa, J.-H. Bae and S. Arimoto,
"On dynamic pinching movements of a musculo-skeletal fingers model,"
Proc. of the 24th Annual Conference of the Robotics Society of Japan, 3C17, Okayama, Sep. 2006.
- K. Tahara, S. Arimoto and Z.W. Luo,
"Reaching movements for a muscle redundant multi-link system,"
Proc. of the 6th SICE System Integration Division Annual Conference, 3K1-1, Kumamoto, Dec. 2005.
The Winner of Best Session Award in SI2005
- T. Odashima, K. Tahara, K. Takagi, S. Hirano, M. Onishi, F. Asano, Y. Kato, H. Nakashima, Y. Kobayashi, T. Mukai, Z.W. Luo and S. Hosoe,
"What is the design criteria for a human interactive robot?,"
Proc. of the 6th SICE System Integration Division Annual Conference, 1G3-1, Kumamoto, Dec. 2005.
- M. Onishi, T. Mukai, F. Asano, T. Odashima, K. Tahara, K. Takagi, S. Hirano and Z.W. Luo,
"Whole body manipulation of a soft robot based on tactile information,"
Proc. of the 6th SICE System Integration Division Annual Conference, 1G3-4, Kumamoto, Dec. 2005.
The Winner of Best Session Award in SI2005
- K. Tahara, Z.W. Luo, S. Arimoto and H. Kino,
"On adaptive gravity compensation for reaching of a musculo-redundant system,"
Proc. of the 23rd Annual Conference of the Robotics Society of Japan, 2E22, Yokohama, Sep. 2005.
- T. Odashima, K. Tahara, M. Onishi, K. Takagi, F. Asano, T. Mukai and Z.W. Luo,
"Development of an experimental WBM robot arm,"
Proc. of the 23rd Annual Conference of the Robotics Society of Japan, 1J15, Yokohama, Sep. 2005.
- M. Onishi, F. Asano, T. Mukai, T. Odashima, K. Tahara, K. Takagi and Z.W. Luo,
"On a Robot's dynamic manipulation using tactile information,"
Proc. of the 23rd Annual Conference of the Robotics Society of Japan, 2E24, Yokohama, Sep. 2005.
- K. Takagi, Z.W. Luo, K. Asaka and K. Tahara,
"Limited rotary actuator using IPMC artificial muscle,"
Proc. of the 5th SICE System Integration Division Annual Conference, pp.669-670,, Tsukuba, Dec. 2004.
- K. Tahara, Z.W. Luo and A. Kato,
"Development of a dynamic simulator by using musculo-skeletal model,"
Proc. of 2004 JSME Conference on Robotics and Mechatoronics，pp.1A1-L1-36(1-4), Jun. 2004.
- F. Asano, Z.W. Luo, M. Yamakita, K. Tahara and S. Hosoe,
"Bio-mimetic control for whole arm cooperative manipulation,"
Proc. of Robotics and Mechatoronics Conference 2004，pp.1A1-L1-32(1-4), Jun. 2004.
- K. Tahara, Z.W. Luo and A. Kato,
"Dynamic simulation of musculo-skeletal model based on measurement of dynamic human motions,"
Proc. of the 4th SICE System Integration Division Annual Conference, pp.756-757, Tokyo, Dec. 2003.
- S. Arimoto, J.-H. Bae and K. Tahara,
"Stability on a manifold and resolution of an ill-posed problem on redundancy of DOF,"
Proc. of the 3rd SICE System Integration Division Annual Conference, I, pp.5-6, Kobe, Dec. 2002.
- K. Tahara, J.-H. Bae, S. Nakamura and S. Arimoto,
"Stable pinching and posture control of an object based on sensory feedback signals for a pair of robot fingers,"
Proc. of the 20th Annual Conference of the robotics society of Japan, 3E13, Oct. 2002.
- S. Arimoto, K. Tahara and P.T.A. Nguyen,
"Secure grasping by a multi-fingered soft hand under the effect of gravity,"
Proc. of the 2nd SICE System Integration Division Annual Conference, pp.201-202, Nagoya, Dec. 2001.
- K. Tahara, M. Yamaguchi and S. Arimoto,
"Experiments on stable grasping by a pair of robot fingers with soft tips,"
Proc. of the 19th Annual Conference of the Robotics Society of Japan, 1I34, Tokyo, Sep. 2001.
- M. Yamaguchi, K. Tahara and S. Arimoto,
"Stable grasping and posture control on the basis of sensory feedback control for a pair of robot fingers,"
Proc. of the 19th Annual Conference of the Robotics Society of Japan, 1I33, Tokyo, Sep. 2001.
- M. Yamaguchi, K. Tahara, P.T.A. Nguyen, H.-Y. Han and S. Arimoto,
"Stable grasping and posture control for a pair of robot fingers with soft tips,"
Proc. of the 18th Annual Conference of the Robotics Society of Japan, no.1, pp. 49-50, Kusatsu, Sep. 2000.
OTHERS
- K. Tahara, K. Maruta and M. Yamamoto,
External sensor-less dexterous object manipulation using a dual soft-fingered robotic hand with torsional joints,"
The 5th Joint Workshop on Machine Perception and Robotics (MPR), Kyoto, Japan, Oct. 2009.
- K. Tahara, S. Arimoto and M. Yoshida,
"Stable object grasping and manipulation using three soft fingers,"
The 4th Joint Workshop on Machine Perception and Robotics (MPR), Beijing, China, Nov. 2008.
- K. Takagi, Z.W. Luo, K. Asaka, K. Tahara,
"Limited Angle Rotary Actuator using IPMC,"
WorldWide ElectroActive Polymers (Artificial Muscles) Newsletter, vol.6, no.2, pp.19-20, Dec. 2004.
- K. Tahara, Z.W. Luo, T. Odashima and A. Kato,
"Development of Dynamic Human Simulation Platform,"
HUT-RITS Joint Symposium on Sensory-Motor Coordination in Robotic Manipulation, pp.81-84, Mar. 2004.
EXPOSITORY PAPER
- M. Onishi, T. Odashima, K. Tahara, S. Hirano, T. Mukai, Z.W. Luo and S. Hosoe,
"Design of a robot that can lift a human body -Knowledge acquired from research and development of a human interactive robot "RI-MAN"-,"
Journal of Robotics Society of Japan, Vol.26, No.3, pp.247-250, 2008. (in Japanese)
BOOKS
- K. Tahara and Z.W. Luo,
"On dynamic control mechanisms of redundant human musculo-skeletal system,"
S. Kawamura and M. Svinin (Eds.): Advances in Robot Control --From Everyday Physics to Human-Like Movements--, pp. 217-247, 2006.
Springer-Verlag (2006/11), ISBN:3-540-37346-2.
- K. Tahara, M. Yamaguchi, P.T.A. Nguyen, H.-Y. Han and S. Arimoto,
"Stable grasping and posture control for a pair of robot fingers with soft tips,"
E. Arai, T. Arai, M. Takano (Eds.): Human Friendly Mechatronics: Selected Papers of the International Conference on Machine Automation, pp. 291-296, 2000.
Elsevier Science (2001/03), ISBN:0-444-50649-7.
Update: 5, Jan. 2010.
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