Publications

[2019]    [2018]    
[2017]    [2016]    [2015]    [2014]    [2013]    [2012]    [2011]    [2010]    [2009]    [2008]    [2007]    [2006]    [2005]    [2004]    [2003]    [2002]    [2001]    [2000]    [1999]    [1998]

[2019]

非固定障害物が存在する斜面における クローラ型移動ロボットの走行性能に関する研究 — グローサが非固定円柱障害物の乗越え性能に与える影響の評価—.[計測自動制御学会論文集,55(11),(2019),1-9]谷島諒丞,永谷圭司,平田泰久

The Religious Impact of Taoism on Ethically Aligned Design in HRI.[International Journal of Social Robo,(2019)]Yueh-Hsuan Weng, Yasuhisa Hirata, Osamu Sakura, Yusuke Sugahara

Research on traversability of tracked vehicle on slope with unfixed obstacles: Derivation of climbing-over, tipping-over, and sliding-down conditions.[Advanced Robotics,(2019)]Ryosuke Yajima, Keiji Nagatani, Yasuhisa Hirata

Human Position Guidance Using Vibrotactile Feedback Stimulation Based on Phantom-Sensation.[2019 IEEE International Conference on Cyborg and Bionic Systems and HBP Workshop,(2019)]Jose Salazar, Kanako Ishida, Yasuhisa Hirata

An IoT-based Failure Prediction Solution Using Machine Sound Data.[2019 IEEE/SICE International Symposium on System Integration (SII),(2019)]Sana Talmoudi ; Tetsuya Kanada ; Yasuhisa Hirata

[2018]

State Estimation Using the CoG Candidates for Sit-to-Stand Support System User.[IEEE Robotics and Automation Letters,3(4),(2018),3011-3018]Mizuki Takeda, Yasuhisa Hirata, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina

Lumbar Assistive Orthosis with Torsion Spring-based Joint for Lumbar Degenerative Kyphosis Patient.[2018 IEEE International Conference on Cyborg and Bionic Systems,(2018),161-166]Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa

Ethically Aligned Design for Assistive Robotics.[2018 IEEE International Conference on Intelligence and Safety for Robotics,(2018),286-290]Yueh-Hsuan Weng, Yasuhisa Hirata

Control of Multiple Passive-Follower Type Robots Based on Feasible Braking Control Region Analysis.[2018 IEEE International Conference on Robotics and Automation,(2018),5056-5061]Yasuhisa Hirata, Ken Kimura, Shin Matsuzaki, Naoko Ogawa, and Takashi Kubota

Path-Following Guidance Using Phantom Sensation Based Vibrotactile Cue Around the Wrist.[IEEE Robotics and Automation Letters,3(3),(2018),2485-2492]Jose V. Salazar Luces, Keisuke Okabe, Yasuhisa Hirata

Motion Control of Cycling Wheelchair With Continuously Variable Transmission and Clutch.[IEEE Robotics and Automation Letters,3(1),(2018),148-154]Yasuhisa Hirata, Yuto Tanaka

A Phantom-Sensation Based Paradigm for Continuous Vibrotactile Wrist Guidance in Two-Dimensional Space.[IEEE Robotics and Automation Letters,3(1),(2018),163-170]Jose V. Salazar Luces, Keisuke Okabe, Yoshiki Murao, Yasuhisa Hirata

[2017]

Real-time gait event recognition for wearable assistive device using an IMU on thigh.[Proceedings of the 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS),(2017),314-318]Songyot Piriyakulkit, Yasuhisa Hirata, Hiroshi Ozawa

Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp).[Proceedings of 2017 IEEE International Conference on Intelligent Robots and Systems,(2017),1937-1942]Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge

Position and Orientation Control of Passive Wire-Driven Motion Support System Using Servo Brakes.[Proceedings of the 2017 IEEE International Conference on Robotics and Automation,(2017),3702-3707], Yasuhisa Hirata, Ryo Shirai, and Kazuhiro Kosuge

Human CoG Estimation for Assistive Robots Using a Small Number of Sensors.[Proceedings of the 2017 IEEE International Conference on Robotics and Automation,(2017),6052-6057]Mizuki Takeda, Yasuhisa Hirata, Kazuhiro Kosuge, Takahiro Katayama, Yasuhide Mizuta, and Atsushi Koujina

Visual human action classification for control of a passive walker.[Proceedings of the IEEE 7th International Conference on Modeling, Simulation, and Applied Optimization (ICMSAO),(2017),1-5]Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

[2016]

Formation control of multiple passive type boats for sea surveillance.[Proceedings of the 2016 IEEE/SICE International Symposium on System Integration,(2016),869-874]Beglerovic, Halil, Yasuhisa Hirata, and Kazuhiro Kosuge

Guiding human motions in physical human-robot interaction through COM motion control of a dance teaching robot.[Proceedings of 2016 IEEE-RAS International Conference on Humanid Robots (Humanoids),(2016),279-285]Diego Felipe Paez Granados, Jun Kinugawa, Yasuhisa Hirata, Kazuhiro Kosuge

Motion guidance using Haptic Feedback based on vibrotactile illusions.[Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems(2016),4685 – 4691]Jose Salazar, Yasuhisa Hirata, and Kazuhiro Kosuge

Cadence control of cycling wheelchair with Continuously Variable Transmission and servo brake.[Proceedings of the 2016 IEEE International Conference on Robotics and Automation,(2016),3062 – 3068],Yasuhisa Hirata, Shotaro Ando, and Kazuhiro Kosuge

[2015]

Motion Control of Wearable-Type Walking Support System based on the Spring-Mass Model.[Advanced Robotics,(2015)]Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

Control Architecture of Delivery Robot for Supporting Nursing Staff.[Proceedings of the 2015 IEEE/SICE International Symposium on System Integration,(2015),345-351]Yasuhisa Hirata, Yusuke Sugiyama, Kazuhiro Kosuge

Underactuated Robot Hand for Dual-Arm Manipulation.[2015 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2015),2937-2942]Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

Anomaly State Assessing of Human using Walker-type Support System Based on Statistical Analysis.[Proceedings of the 2015 IEEE International Symposium on Robot and Human Interactive Communication,(2015)]Yasuhisa Hirata, Hiroki Yamaya, Kazuhiro Kosuge, Atsushi Koujina, Tomohiro Shirakawa, Takahiro Katayama

Pedaling Assistive Control Method of Cycling Wheelchair for Hemiplegia Patients.[Proceedings of the 2015 IEEE International Conference on Robotics and Automation,(2015),6191-6196]Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

[2014]

4. Pose Estimation of Servo-Brake-Controlled Caster Units Arbitrarily Located on a Mobile Base.[2014 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2014)]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

5. Walking Support by Wearable System based on the Spring-Mass Model.[2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,(2014),285-290]Shinji Suzuki, Yasuhisa Hirata and Kazuhiro Kosuge

6. Power Steering and Force Display Controls for a Cycling Wheelchair Using Servo Brakes.[2014 IEEE International Conference on Robotics and Automation,(2014),613-618]Yasuhisa Hirata, Kazuhiro Kosuge, and Eric Monacelli

7. Generating Human Motion Transition Map in Indoor Environment and Analyzing Human Behavior by Geographical Clustering.[2014 IEEE International Conference on Robotics and Automation,(2014),3700-3705]Yuji Ogawa, Zhidong Wang,Tetsuya Wada, Yasuhisa Hirata and Kazuhiro Kosuge

8. Assistance Control Method for One-Leg Pedaling Motion of a Cycling Wheelchair.[Proceedings of the 2014 IEEE International Conference on Robotics and Automation,(2014),5606-5611]Aya Kaisumi, Yasuhisa Hirata and Kazuhiro Kosuge

[2013]

9. Assistive Motion Control of Cycling Wheelchair Based on Investigation of Load on User.[Proceedings of the 2013 IEEE/SICE International Symposium on System Integration,(2013),418-423]Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

10. Investigation of User Load and Evaluation of Power Assistive Control on Cycling Wheelchair. [Janul of Robotics and Mechatronics.[Journal of Robotics and Mechatronics,25(6),(2013),959-965]Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge

11. Steering Assist System for a Cycling Wheelchair Based on Braking Control.[Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2013),672-678]Yasuhisa Hirata, Kazuhiro Kosuge, Eric Monacelli

12. Development of Robot Hand with Suction Mechanism for Robust and Dexterous Grasping.[Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2013),5500-5505]Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge

13. Motion Support during the Swing Phase using Cooperative Walking Support System.[Advanced Robotics,27(17),(2013),1337-1349]Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Hiroshi Onodera

14. A Nonholonomic Vehicle Maneuver based on an Estimator of Positional Relationships between the Vehicle and Two Mobile Robots Grasping Drive Wheels.[Journal of the Robotics Society of Japan,31(8),(2013),816-827]Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura

15. Regenerative Brake Control of Cycling Wheelchair with Passive Behavior.[Proceedings of the 2013 IEEE International Conference on Robotics and Automation,(2013),3858-3864]Yasuhisa Hirata, Kota Kawamata, Kana Sasaki, Aya Kaisumi, Kazuhiro Kosuge, Eric Monacelli

16. Transportation of an Object by Multiple Passive Mobile Robots in Cooperation with a Human.[Transactions of the Society of Instrument and Control Engineers,49(3),(2013),353-361]Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

[2012]

17. Estimation of Relative Positions and Orientations on a Car Transportation System Grasping two Drive Wheels.[Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics,(2012),1874-1880]Naoaki Yonezawa, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura

18. Cooperative Transportation Control in Consideration of not only Internal Force but also External Force Applied to “MRWheel”.[Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics,(2012),1867-1873]Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura

19. Wire-Type Human Support System Controlled by Servo Brakes.[Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2012),3356-3361]Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge

20. A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II.[Transactions of the Society of Instrument and Control Engineers,48(7),(2012),389-398]Koshi Kashiwazaki, Naoaki Yonezawa, Kazuhiro Kosuge, Yusuke Sugahara, Hasuhisa Hirata, Mitsuru Endo, Takashi Kanbayashi, Hiroyuki Shinozuka, Koki Suzuki and Yuki Ono

21. A Vehicle Maneuver by Using Two Mobile Robots Grasping Single Wheel.[Transactions of the Society of Instrument and Control Engineers,48(7),(2012),373-382]Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Knichi Nakamura and Masaki Nakanishi

22. Estimation of Human Physical Characteristics in Ambient Assistance Environment.[Proceedings of the 2012 Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,(2012),1428-1433]Mata Khalili, Eric Monacelli, Yasuhisa Hirata

23. Comparative Study of Visual Human State Classification; an Application for a Walker Robot.[Proceedings of the 2012 Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,(2012),1843-1849]Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

24. A Car Transportation System Grasping Two Drive Wheels.[Proceedings of the 2012 IEEE International Conference on Robotics and Automation,(2012),4086-4091]Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Kouki Suzuki, Kazunori Murakami, Kenichi Nakamura

25. Design of Parts Handling and Gear Assembling Device.[Proceedings of the 2012 IEEE International Conference on Robotics and Automation,(2012),2570-2577]Kengo Yamaguchi, Yasuhisa Hirata, Aya Kaisumi, Kazuhiro Kosuge

26. Motion Control of Caster-type Passive Mobile Robot with Servo Brakes.[Advanced Robotics,26(11-12),(2012),1271-1290]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

[2011]

27. Development of Wire-type Motion Support System Controlled by Servo Brakes.[Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics,(2011),2150-2155]Yasuhisa Hirata, Yuki Tozaki and Kazuhiro Kosuge

28. Control of a Passive Walker Using a Depth Sensor for User State Estimation.[Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics,(2011),1639-1645]Sajjad Taghvaei, Yasuhisa Hirata, Kazuhiro Kosuge

29. Building Human Motion Map with Human States Estimation in Indoor Dynamic Environments.[Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics,(2011),1090-1095]Yuji Ogawa, Zhidong Wang, Tetsuya Wada, Ken Tomiyama, Yasuhisa Hirata, and Kazuhiro Kosuge

30. Identification of Pedestrian Characteristics for Assistive Systems.[Proceedings of the 2011 IEEE/SICE International Symposium on System Integration,(2011),549-554]Mata Khalili, Eric Monacelli, Yasuhisa Hirata

31. A Car Transportation System Using Multiple Mobile Robots:iCART II.[Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2011),4593-4600]Koshi Kashiwazaki, Naoaki Yonezawa, Mitsuru Endo, Kazuhiro Kosuge, Yusuke Sugahara, Yasuhisa Hirata, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami and Kenichi Nakamura

32. Development of Passive type Double Wheel Caster Unit based on Analysis of Feasible Braking Force and Moment Set.[Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2011),311-317]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

33. Walking Support based on Cooperation between Wearable-Type and Cane-Type Walking Support Systems.[Proceedings of 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,(2011),122-127]Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge and Hiroshi Onodera

34. Design of Handling Device for Caging and Aligning Circular Objects.[Proceedings of 2011 IEEE International Conference on Robotics and Automation,(2011),4370-4377]Yasuhisa Hirata, Aya Kaisumi, Kengo Yamaguchi and Kazuhiro Kosuge

35. Improvement in the Performance of Passive Motion Support System.[Proceedings of 2011 IEEE International Conference on Robotics and Automation,(2011),4272-4277]Yasuhisa Hirata, Keitaro Suzuki and Kazuhiro Kosuge

36. Levitation Control of Experimental Wing-In-Ground Effect Vehicle Along Z Axis and about Roll and Pitch Axes.[Proceedings of 2011 IEEE International Conference on Robotics and Automation,(2011),8-13]Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, Yasuaki Kohama

37. Levitation Control of AEROTRAIN: Development of Experimental Wing-in-Ground Effect Vehicle and Stabilization Along Z Axis and About Roll and Pitch Axes.[Journal of Robotics and Mechatronics,23(3),(2011),338-349]Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, and Yasuaki Kohama

38. Method for Selecting Standing-Up Assist Devices Based on Standing-Up Classification with Human Model.[Transactions of the Japan Society of Mechanical Engineers,77(774),(2011),429-438]Takuro Hatsukari, Norihisa Miyake, Yasuhisa Hirata, Kazuhiro Kosuge

[2010]

39. Vision Based Human State Estimation to Control an Intelligent Passive Walker.[Proceedings of the 2010 IEEE/SICE International Symposium on System Integration,(2010)]Sajjad Taghavaei, Yasuhisa Hirata, Kazuhiro Kosuge

40. Motion Control of Passive Haptic Device Using Wires with Servo Brakes.[Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2010),3123-3129]Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge

41. Motion Control of Passive Mobile Robot with Multiple Casters Based on Feasible Braking Force and Moment.[Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2010),3130-3137]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

42. Analysis of the slip-related falls and fall prevention with an intelligent shoe system.[Proceedings of the 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics,(2010)]Hiroshi Onodera, Takeshi Yamaguchi, Hiroteru Yamanouchi, Kazumasa Nagamori, Masaru Yano, Yasuhisa Hirata, Kazuo Hokkirigawa

43. Transfer Support Equipment Based on Caregivers’ Technique.[Transactions of the Japan Society of Mechanical Engineers,76(769),(2010),120-127]Takuro Hatsukari, Norihisa Miyake, Yasuhisa Hirata, Kazuhiro Kosuge

44. Distributed motion control of multiple passive object handling robots considering feasible region of brake control.[Proceedings of 2010 IEEE International Conference on Robotics and Automation,(2010),3413-3419]Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

45. Development of passive wearable walking helper controlled by servo brake.[International Journal of Mechatronics and Manufacturing Systems,3,(2010),291-306]Yasuhisa Hirata, Tadashi Isoda, Kazuhiro Kosuge

46. A Car Transportation System Using Multiple Robots iCART (2nd Report, A Distributed Coordination Control Algorithm).[Transactions of the Japan Society of Mechanical Engineers,76(761),(2010),103-109]Mitsuru Endo, Kazuhiro Kosuge, Kenji Hirose, Yasuhisa Hirata, Yusuke Sugahara, Koki Suzuki, Takashi Kanbayashi
http://ir.library.tohoku.ac.jp/re/handle/10097/52817

[2009]

47. Motion Control of Passive Dance Partner Robot by Using Servo Brakes.[Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics,(2009),104-109]Yasuhisa Hirata, Yoshinori Koike, Kazuhiro Kosuge

48. Motion Control of Wearable Walking Support System with Accelerometer Based on Human Model.[Advances in Human-Robot Interaction,(2009),205-220]Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge

49. Motion Control of Passive Mobile Robot Consisting of Casters with Servo Brakes.[Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2009),42-48]Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge

50. A Path Planning Method for Dynamic Object Closure by Using Random Caging Formation Testing.[Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2009),42-48]ZhiDong Wang, Hidenori Matsumoto, Yasuhisa Hirata, Kazuhiro Kosuge

51. Development of Intelligent Passive Cane Controlled by Servo Brakes.[Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication,(2009),97-102]Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge

52. Trajectory Generation for Multiple Robots of a Car Transportation System.[Distributed Autonomous Robotic Systems 9,(2009)]M. Endo, K. Hirose, Y. Sugahara, Y. Hirata, K. Kosuge, T. Kanbayashi, M. Oomoto, K. Suzuki, K. Murakami and K. Nakamura

53. Development of an Automatic Dishwashing Robot System.[Proceedings of The 2009 IEEE International Conference on Mechatronics and Automation,(2009),43-48]Kazuhiro Kosuge, Yasuhisa Hirata, Jina Lee, Akira Kawamura, Koichi Hashimoto, Shingo Kagami, Yu Hayashi, Norio Yokoshima, Hiroshi Miyazawa, Ryosuke Teranaka, Yasutoshi Natsuizaka, Kazuhisa Sakai, Mizuo Koizumi, Junji Koyama, Naoki Kanayama, Shunichi Tezuka, and Hiroshi Torimitsu
http://hdl.handle.net/10097/46669

54. Human-Adaptive Step Estimation Method for a Dance Partner Robot.[Proceedings of the IEEE International Conference on Automation and Logistics,(2009),191-196]Daishi Nakayama, Kazuhiro Kosuge and Yasuhisa Hirata

55. A Car Transportation System Using Multiple Robots iCART.[Transactions of the Japan Society of Mechanical Engineers,75(755),(2009),132-139]Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Koki Suzuki, Hiroyuki Shinozuka, Hiroyuki Arai, Kei Akune, Takashi Kanbayashi
http://ir.library.tohoku.ac.jp/re/handle/10097/52834

56. Parameter Setting Method for Sit-Stand Assist System Based on Human Model.[Journal of Robotics and Mechatronics,21(3),(2009),324-331]Yasuhisa Hirata, Jun’ichi Higuchi, Takuro Hatsukari, Kazuhiro Kosuge

57. Estimation of Human States Using Walker Based on Human Model.[Transactions of the Society of Instrument and Control Engineers,45(5),(2009),276-282]Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

58. A Coordinated Control Algorithm based on the Caster-like Motion for a Car Transportation System -iCART.[Proceedings of 2009 IEEE International Conference on Robotics and Automation,(2009),2350-2355]Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi

59. Coordinated Motion Control of Multiple Passive Object Handling Robots Based on Environment Information.[Proceedings of 2009 IEEE International Conference on Robotics and Automation,(2009),2338-2343]Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

60. Transporting an Object by a Passive Mobile Robot with Servo Brakes in Cooperation with a Human.[Advanced Robotics,23(4),(2009),387-404]Yasuhisa Hirata, Zhidong Wang, Kenta Fukaya, Kazuhiro Kosuge

61. Cooperative Motion Generation Method for Human-robot Cooperation to deal with Environmental/Task Constraints.[Journal of the Robotics Society of Japan,27(2),(2009),99-107]Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

62. Self-help Standing-up Method Based on Quasi-static Motion.[Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics,(2009),342-347]Takuro Hatsukari, Shiho Kuroko, Norihisa Miyake, Jun’ichi Higuchi, Ryushiro Kawazoe, Yasuhisa Hirata, Kazuhiro Kosuge

63. Development of Omini-directional Mobile Base with Servo Brakes for Passive Dance Partner Robot.[Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics,(2009),676-681]Yasuhisa Hirata, Yoshinori Koike, Zhao Liu, Kazuhiro Kosuge

[2008]

64. Standing-Up Motion Support Device by Using Elbow Support Face to Adapt to Human Physical and Motion Characteristics.[Journal of Robotics and Mechatronics,20(6),(2008),828-825]Takuro Hatsukari, Norihisa Miyake, Jun’ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge

65. A Novel Grasping Mechanism for Flat-shaped Objects Inspired by Lateral Grasp.[Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,(2008),282-288]Kazuhiro Kosuge, Jina Lee, Junya Ichinose, Yasuhisa Hirata

66. Sit-to-Stand Assist System by Using Handrail and Electric Bed Moving Up and Down.[Proceedings of the 2nd Biennial IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,(2008),187-192]Yasuhisa Hirata, Jun’ichi Higuchi, Takuro Hatsukari, Kazuhiro Kosuge

67. Control of Wearable Walking Helper on Slope Based on Integration of Acceleration and GRF Information.[Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2008),3731-3736]Yasuhisa Hirata, Takuya Iwano, Kazuhiro Kosuge

68. A Car Transportation System by Multiple Mobile Robots – iCART -.[Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2008),2795-2801]Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Kei Akune, Hiroyuki Arai, Hiroyuki Shinoduka, Kouki Suzuki

69. Fall Prevention Control of Passive Intelligent Walker Based on Human Model.[Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2008),1222-1228]Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

70. Motion Control of Wearable Walking Support System with Accelerometer Considering Swing Phase Support.[Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication,(2008),322-327]Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge
http://hdl.handle.net/10097/46650

71. Development of Passive Wearable Walking Support System Based on Brake Control.[Proceedings of 2008 IEEE International Conference on Mechatronics and Automation,(2008),WC3-3]Yasuhisa Hirata, Tadashi Isoda, Kazuhiro Kosuge

72. Human Modeling Method for Estimating User States Using Intelligent Walker.[Proceedings of The 17th CISM-IFToMM Symposium on Robot Design, Dynamics, And Control,(2008),365-372]Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge

73. Development of A Passive Type Dance Partner Robot.[Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,(2008),1070-1075]Zhao Liu , Yoshinori Koike, Takahiro Takeda, Yasuhisa Hirata, Ken Chen, Kazuhiro Kosuge

74. Object Handling by Coordinated Multiple Mobile Manipulators Without Force/Torque Sensors.[Journal of Robotics and Mechatronics,20(3),(2008),394-402]Yohei Kume, Yasuhisa Hirata, and Kazuhiro Kosuge

75. Variable Motion Characteristics Control of an Object by Multiple Passive Mobile Robots in Cooperation with a Human.[Proceedings of 2008 IEEE International Conference on Robotics and Automation,(2008),1346-1351]Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge

76. Standing-up Motion Support System Based on Human Physical Characteristics of Elderly People.[Transactions of The Japan Society of Mechanical Engineers (C),74(740),(2008),186-193]Takuro Hatsukari, Shiho Kuroko, Norihisa Miyake, Jun’ichi Higuchi, Yasuhisa Hirata, Kazuhiro Kosuge
http://ir.library.tohoku.ac.jp/re/handle/10097/52970

77. Partner Ballroom Dance Robot -PBDR-.[SICE Journal of Control, Measurement, and System Integration,1(1),(2008),74-80]Kazuhiro Kosuge, Takahiro Takeda, Yasuhisa Hirata, Mitsuru Endo, Minoru Nomura, Kazuhisa Sakai, Mizuo Koizumi, and Tatsuya Oconogi

[2007]

78. Motion Control of Passive Robot Porter with Variable Motion Characteristics for Handling a Single Object.[Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics,(2007),1041-1046]Yasuhisa Hirata, Hamin Song, Kazuhiro Kosuge
http://hdl.handle.net/10097/46665

79. Motion Generation Method for Human-Robot Cooperation to deal with Environmental/Task Constraints.[Proceedings of the 2007 IEEE International Conference on Robotics and Biomimetics,(2007),646-651]Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

80. Decentralized Cooperative Object Transportation by Multiple Mobile Robots with a Pushing Leader.[Distributed Autonomous Robotic Systems,6,(2007)]ZhiDong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge

81. Coordinated Motion Control of Multiple Mobile Manipulators Handling a Single Object without Using Force/Torque Sensors.[Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2007),4077-4082]Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge

82. Collision Avoidance based on Estimated Step of Other Dance Couples for Male-type Dance Partner Robot.[Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2007),3264-3269]Yasuo Sakai, Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

83. Dance Partner Robot Cooperative Motion Generation with Adjustable Length of Dance Step Stride based on Physical Interaction.[Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2007),3258-3263]Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge

84. Control of Passive Object Handling Robot with Free Joint for Reducing Human Assistive Force.[Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2007),1154-1159]Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge

85. Active Type Robotic Mobility Aid Control Based on Passive Behavior.[Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2007),165-170]Oscar Chuy Jr., Yasuhisa Hirata, Kazuhiro Kosuge

86. A Control Approach Based on Passive Behavior to Enhance User Interaction.[IEEE Transactions on Robotics,23(5),(2007),899-908]Oscar Ylaya Chuy, Jr., Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge
http://hdl.handle.net/10097/46537

87. Motion Control of Passive Intelligent Walker Using Servo Brakes.[IEEE Transactions on Robotics,23(5),(2007),981-990]Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge
http://hdl.handle.net/10097/46538

88. Handling of an Object in 3-D Space by Multiple Mobile Manipulators Based on Intentional Force/Moment Applied by Human.[Proceedings of 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,(2007),219-]Yasuhisa Hirata, Yasuhiro Matsuda, Kosuge Kazuhiro

89. Passive-type Intelligent Walker Controlled Based on Caster-like Dynamics.[Rehabilitation Robotics, Advanced Robotic Systems,(2007),187-202]Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

90. Structural Design for Omni-Directional Mobile Base of Passive-type Mobile Robot.[Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation,(2007)]Yasuhisa Hirata, Hamin Song, Zhidong Wang, Kazuhiro Kosuge
http://hdl.handle.net/10097/46664

91. Dance Step Estimation Method Based on HMM for Dance Partner Robot.[IEEE Transactions on Industrial Electronics,54(2),(2007),699-706]Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge
http://hdl.handle.net/10097/35762

92. Environment Feedback for Robotic Walking Support System Control.[Proceedings of 2007 IEEE International Conference on Robotics and Automation,(2007),3633-3638]Oscar Chuy Jr., Yasuhisa Hirata, and Kazuhiro Kosuge
http://hdl.handle.net/10097/46637

93. Control Passive Mobile Robots for Object Transportation – Braking Torque Analysis and Motion Control -.[Proceedings of 2007 IEEE International Conference on Robotics and Automation,(2007),2874-2879]ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata, and Kazuhiro Kosuge
http://hdl.handle.net/10097/46636

94. HMM-based Error Recovery of Dance Step Selection for Dance Partner Robot.[Proceedings of 2007 IEEE International Conference on Robotics and Automation,(2007),1768-1773]Takahiro Takeda, Yasuhisa Hirata, and Kazuhiro Kosuge

95. Human-Robot Cooperation with Physical Interaction for Ballroom Dance.[日本ロボット学会誌,25(1),(2007),113-120]竹田貴博、林智大、平田泰久、小菅一弘

[2006]

96. Impedance-based Motion Control of Passive-type Robot Porter for Handling an Object.[Proceedings of IEEE International Conference on Robotics and Biomimetics,(2006)]ZhiDong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge
http://hdl.handle.net/10097/46631

97. A New Control Approach for a Robotic Walking Support System in Adapting User Characteristics.[IEEE Transactions on Systems, Man, and Cybernetics,36(6),(2006),725-733]Oscar Chuy, JR., Yasuhisa Hirata, Kazuhiro Kosuge
http://hdl.handle.net/10097/35763

98. Dynamic Object Closure by Multiple Mobile Robots and Random Caging Formation Testing.[Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2006),3675-3681]ZhiDong Wang, Yasuhisa Hirata, Kazuhiro Kosuge2

99. Motion Generation for Human-Robot Cooperation considering Range of Joint Movement.[Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2006),270-275]Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

100. Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State.[Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2006),1050-1055]Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

101. Approach in Assisting a Sit-to-Stand Movement Using Robotic Walking Support System.[Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2006),4343-4348]Oscar Chuy Jr., Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

102. HMM-based Error Detection of Dance Step Selection for Dance Partner Robot -MS DanceR.[Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2006),5631-5636]Takahiro Takeda, Yasuhisa Hirata, ZhiDong Wang, Kazuhiro Kosuge

103. Environment-adaptive Motion Control for Passive-type Intelligent Walker.[Transactions of The Japan Society of Mechanical Engineers (C),72(719),(2006),181-188]Yasuhisa Hirata, Asami Hara, Asami Muraki, Kazuhiro Kosuge
http://ir.library.tohoku.ac.jp/re/handle/10097/52869

104. Real-Time Self-Collision Avoidance using RoBE for Human-Friendly Robot.[Transactions of the Japan Society of Mechanical Engineers (C),72(718),(2006),1826-1831]Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata
http://ir.library.tohoku.ac.jp/re/handle/10097/52943

105. Standing Up and Sitting Down Support Using Intelligent Walker Based on Estimation of User States.[Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation,(2006)]Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

106. Design and Control of A Passive Mobile Robot System for Object Transportation.[Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation,(2006),31-36]Kenta Fukaya, Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

107. Motion Control of Intelligent Passive-type Walker for Fall-prevention Function based on Estimation of User State.[Proceedings of the 2006 IEEE International Conference on Robotics and Automation,(2006),3498-3503]Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

108. Construction of Human-Robot Cooperation System based on Structure/Motion Model.[Intelligent Autonomous Systems 9,(2006),973-980]Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge

109. Development of Intelligent Walker based on Passive Robotics Concept.[Journal of the Robotics Society of Japan,24(2),(2006),124-130]Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

[2005]

110. Handling of a Single Object by Multiple Mobile Manipulators in Cooperation with Human Based on Virtual 3-D Caster Dynamics.[JSME International Journal (C),48(4),(2005),613-619]Yasuhisa Hirata, Youhei Kume, Zhi-Dong Wang, Kazuhiro Kosuge
http://ir.library.tohoku.ac.jp/re/handle/10097/52009

111. Augmented Variable Center of Rotation in Controlling a Robotic Walker to Adapt User Characteristics.[Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2005),2806-2811]Oscar Chuy Jr., Yasuhisa Hirata, Kazuhiro Kosuge

112. An Algorithm for Testing Object Caging Condition by Multiple Mobile Robots.[Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2005),2664-2669]Zhidong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

113. 3D Ground Adaptive Synthetic Aperture Radar for Landmine Detection.[Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2005),1861-1866]Hidenori Yabushita, Mitsuhiko Kanehama, Yasuhisa Hirata, Kazuhiro Kosuge

114. HMM-based Dance Step Estimation for Dance Partner Robot -MS DanceR-.[Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2005),1602-1607]Takahiro Takeda, Kazuhiro Kosuge, Yasuhisa Hirata

115. Self-collision Avoidance Motion Control for Human Robot Cooperation System using RoBE.[Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2005),50-55]Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata

116. Passive Omnidirectional Walker -Design and Control-.[Proceddings of 2005 International Conference on Advanced Robotics,(2005),518-523]Naemeh Nejatbakhsh, Yasuhisa Hirata, Kazuhiro Kosuge

117. Deformable Caging Formation Control for Cooperative Object Transportation by Multiple Mobile Robots.[Proceedings of 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics,(2005),1158-1163]Zhidong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

118. Motion Control Algorithms for a New Intelligent Robotic Walker in Emulating Ambulatory Device Function.[Proceedings of the IEEE International Conference on Mechatronics and Automation,(2005),1509-1514]Oscar Chuy Jr., Yasuhisa Hirata, Zhidong Wang, Kazuhiro Kosuge

119. Virtual Elastic Wall Based Motion Control for Teleoperated Demining System.[Proceedings of the IEEE International Conference on Mechatronics and Automation,(2005),1666-1671]Erdene Damdinsuren, Kazuhiro Kosuge, Zhidong Wang, Yasuhisa Hirata

120. Automatic Fine Alignment and Pointing of Movable Telescopes using Point and Template Matching.[Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics,(2005),336-341]Yosry A. Azzam, Zhidong Wang, Yasuhisa Hirata, Kazuhiro Kosuge, A. A. Elkousy, A. Bahgat, M. AboElela
http://hdl.handle.net/10097/46658

121. Online Approach in Adapting User Characteristic for Robotic Walker Control.[Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics,(2005),139-142]Oscar Chuy Jr., Yasuhisa Hirata, Kazuhiro Kosuge

122. Motion Control of Passive-type Intelligent Walker Based on Caster-like Dynamics.[Proceedings of the 2005 IEEE 9th International Conference on Rehabilitation Robotics,(2005),477-481]Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge

123. Step Estimation Method for Dance Partner Robot “MS DanceR” using Neural Network.[Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics,(2005),523-528]Yasuhisa Hirata, Tomohiro Hayashi, Takahiro Takeda, Kazuhiro Kosuge, Zhidong Wang

124. Checking Movable Configuration Space in C-Closure Object for Object Caging and Handling.[Proceedings of the 2005 IEEE International Conference on Robotics and Biomimetics,(2005),336-341]Zhidong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

125. Motion Control of Passive-type Walking Support System based on Environment Information.[Proceedings of the 2005 IEEE International Conference on Robotics and Automation,(2005),2932-2937]Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

126. Model-Based Wearable Antigravity Muscles Support System for Leg.[Transactions of The Japan Society of Mechanical Engineers,71(702),(2005),618-623]Takahiko Nakamura, Kazuhiro Kosuge, Yasuhisa Hirata
http://ir.library.tohoku.ac.jp/re/handle/10097/52799

127. Handling a Single Object by Multiple Mobile Manipulators without Using Geometric Relations among Robots.[Journal of the Robotics Society of Japan,23(1),(2005),139-146]Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi-dong Wang, Kazuhiro Kosuge

[2004]

128. Telescope Automatic Alignment and Point using Pattern Matching.[Proceedings of the 4th International Conference on Advanced Mechatronics,(2004),96-102]Yosry A. Azzam, Kazuhiro Kosuge, Zhidong Wang, A.A.Alawy, Yasuhisa Hirata

129. Passive-type Intelligent Walking Support System “RT Walker”.[Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2004),3871-3876]Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge

130. Control of Walking Support System Based on Variable Center of Rotation.[Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2004),2289-2294]Oscar Chuy Jr., Yasuhisa Hirata, Kazuhiro Kosuge

131. A Pushing Leader based Decentralized Control Method for Cooperative Object Transportation.[Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2004),1035-1040]Zhi-Dong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge

132. Real-time Self-collision Avoidance System for Robots using RoBE.[International Journal of Humanoid Robotics,1(3),(2004),533-550]Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata

133. Load Sharing Algorithm for Transporting an Object by Two Mobile Robots in Coordination.[Proceedings of the 2004 IEEE International Conference on Intelligent Mechatronics and Automation,(2004),374-378]Hiroki Takeda, Zhi-Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

134. Leader-Follower type Motion Control Algorithm of Multiple Mobile Robots with Dual Manipulators for Handling a Single Object in Coordination.[Proceedings of the 2004 IEEE International Conference on Intelligent Mechatronics and Automation,(2004),362-367]Yasuhisa Hirata, Takuro Sawada, Zhi-Dong Wang, Kazuhiro Kosuge
http://hdl.handle.net/10097/46657

135. Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots.[Proceedings of the 2004 IEEE International Conference on Robotics and Automation,(2004),1580-1585]Zhi-Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

136. Handling of an Object by Multiple Mobile Manipulators in Coordination based on Caster-like Dynamics.[Proceedings of the 2004 IEEE International Conference on Robotics and Automation,(2004),807-812]Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi-Dong Wang, Kazuhiro Kosuge

137. Handling of a Large Objcet by Multiple Mobile Robots in Cooperation with a Human.[Transactions of The Japan Society of Mechanical Engineers,70(691),(2004),151-157]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata
http://ir.library.tohoku.ac.jp/re/handle/10097/52983

138. A Small Reaction Manipulator for Maneuvering a GPR Sensing Head.[Systems and Human Science For Safety, Security, and Dependability,(2004),245-257]Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge

[2003]

139. Motion Control of Omni-directional Type Walking Support System “Walking Helper”.[Proceedings of The 12th International IEEE Workshop on Robot and Human Interactive Communication,(2003),85-90]Yasuhisa Hirata, Takahiro Baba, Kazuhiro Kosuge

140. Handling of an Object by Multiple Mobile Manipulators with Virtual 3-D Caster Dynamics in Cooperation with a Human.[Transactions of the Japan Society of Mechanical Engineers,69(687),(2003),55-61]Yasuhisa Hirata, Youhei Kume, Zhi-dong Wang, Kazuhiro Kosuge
http://ir.library.tohoku.ac.jp/re/handle/10097/52964

141. Environment-Adaptive Control Algorithm of Power Assisted Cycle.[Proceedings of the IECON,(2003),1962-1968]Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge, Zhi-Dong Wang

142. Dance Partner Robot-Ms DanceR-.[Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems,(2003),3459-3464]Kazuhiro Kosuge, Tomohiro Hayashi, Yasuhisa Hirata, Ryosuke Tobiyama

143. Transportation of a Single Object by Multiple Distributed Robot Helpers with Caster-like Dynamics (DR Helpers) in Cooperation with a Human.[Journal of the Robotics Society of Japan,21(7),(2003),80-88]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

144. Real-time Control of Self-collision Avoidance for Robot using RoBE.[International Conference on Humanoid Robots, Conference Documentation,(2003),1-18]Fumi Seto, Kazuhiro Kosuge, Rio Suda, Yasuhisa Hirata

145. Control Multiple Mobile Robots for Object Caging and Manipulation.[Proceedings of the 2003 IEEE/RSJ Intl. Conference on Intelligent Robots and Systems,(2003),1751-1756]Zhi-Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge

146. Decentralized Control of Multiple Mobile Manipulators Based on Virtual 3-D Caster Motion for Handling an Object in Cooperation with a Human.[Proceedings of the 2003 IEEE International Conference on Robotics and Automation,(2003),938-943]Yasuhisa Hirata, Youhei Kume, Zhi-Dong Wang, Kazuhiro Kosuge

147. A Strategy and a Fast Testing Algorithm for Object Caging by Multiple Cooperative Robots.[Proceedings of the IEEE International Conference on Robotics and Automation,(2003),2275-2280]Zhi-Dong Wang, Vijay Kumar, Yasuhisa Hirata, Kazuhiro Kosuge

148. Control of Power Assisted Cycle with Adjustable Apparent Drag Force.[Transactions of the Japan Society of Mechanical Engineers,69(680),(2003),195-200]Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge
http://ir.library.tohoku.ac.jp/re/handle/10097/52997

149. Desentralized Motion Control of Multiple Mobile Robots for Transporting an Object without Geometric Relations among Robots.[Transactions of the Japan Society of Mechanical Engineers,69(677),(2003),204-211]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata
http://ir.library.tohoku.ac.jp/re/handle/10097/52898

150. Small Reaction Manipulator for GPR Sensing Head Maneuver.[Proceedings of the SSR First International Symposium on System and Human Science,(2003),339-344]Hidenori Yabushita, Yasuhisa Hirata, Kazuhiro Kosuge

[2002]

151. Decentralized Control of Multiple Mobile Manipulators Handling a Single Object in Coodination.[Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2002),2758-2763]Youhei Kume, Yasuhisa Hirata, Zhi-Dong Wang, Kazuhiro Kosuge

152. Coordinated Transportation of an Object by Multiple Mobile Robots without Using Force/Torque Sensors.[Transactions of the Japan Society of Mechanical Engineers,68(673),(2002),179-185]Youhei Kume, Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata
http://ir.library.tohoku.ac.jp/re/handle/10097/52812

153. Control of Robot in Singular Configurations for Human-Robot Coordination.[Proceedings of the 2002 IEEE Int. Workshop on Robot and Human Interactive Communication,(2002),356-361]Kentaro Nakai, Kazuhiro Kosuge, Yasuhisa Hirata

154. Collision Avoidance Algorithm for Two Tracked Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept.[Distributed Autonomous Robotic Systems 5,(2002),155-164]Hiroaki Takeda, Yasuhisa Hirata, Zhi-Dong Wang, Kazuhiro Kosuge

155. Collision Avoidance System for Multiple Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept.[Transactions of the Japan Society of Mechanical Engineers,68(669),(2002),111-117]Hiroki Takeda, Kazuhiro Kosuge, Yasuhisa Hirata
http://ir.library.tohoku.ac.jp/re/handle/10097/52960

156. Motion Control of Multiple DR Helpers Transporting a Single Object in Cooperation with a Human Based on Map Information.[Proceedings of the 2002 IEEE International Conference on Robotics and Automation,(2002),995-1000]Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

157. Transportation of an Object by Multiple Distributed Robot Helpers in Cooperation with a Human.[Transactions of the Japan Society of Mechanical Engineers,68(668),(2002),181-188]Yasuhisa Hirata, Takuro Hatsukari, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata
http://ir.library.tohoku.ac.jp/re/handle/10097/52925

[2001]

158. Manipulation of a Large Object by Multiple DR Helpers in Cooperation with a Human.[Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,(2001),126-131]Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

159. Control algorithm of dual arms mobile robot for cooperative works with human.[Proceedings of the 2001 IEEE International Conference on Systems, Man, and Cybernetics,(2001),3223-3228]Kazuhiro Kosuge, Hiromu Kakuya, Yasuhisa Hirata

160. Map-based Control of Distributed Robot Helpers for Transporting an Object in Cooperation with a Human.[Proceedings of 2001 IEEE International Conference on Robotics and Automation,(2001),3010-3015]Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

161. Decentralized Control of Multiple Mobile Robots Transporting a Single Object in Coordination without Using Force/Torque Sensors.[Proceedings of 2001 IEEE International Conference on Robotics and Automation,(2001),3004-3009]Kume Youhei, Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

162. Handling of a Large Object using Multiple Mobile Robots in Coordination.[Transactions of the Japan Society of Mechanical Engineers,67(656),(2001),1077-1084]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata
http://ir.library.tohoku.ac.jp/re/handle/10097/52867

163. Motion Control of Distributed Robot Helpers Transporting a Single Object in Cooperation with a Human.[Experimental Robotics VII,LNCIS 271, Springer-Verlag Berlin Heidelbrg 2001,(2001),313-322]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

[2000]

164. Coordinated Motion Control of Multiple Robots without Position Information of Each Robot.[Proceedings of IEEE Conference on Decision and Control,(2000),346-351]Yasuhisa Hirata, Kazuhiro Kosuge

165. Coordinated Transportation of a Single Object by Multiple Mobile Robots without Position Information of Each Robot.[Proceedings of 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems,(2000),2024-2029]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

166. Coordinated Transportation of a Single Object by Omni-Directional Mobile Robots with Body Force Sensor.[Journal of Robotics and Mechatronics,12(3),(2000),242-248]Yasuhisa Hirata, Kazuhiro Kosuge, Tomohiro Oosumi, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

167. Distributed Robot Helpers Handling a Single Object in Cooperation with a Human.[Proceedings of 2000 IEEE International Conference on Robotics and Automations,(2000),458-463]Yasuhisa Hirata, Kazuhiro Kosuge

[1999]

168. Decentralized Control of Mobile Robots in Coordination.[Proceedings of IEEE International Conference on Control Applications,(1999),1129-1134]Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata

169. Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Coordination.[Proceedings of IEEE International Conference on Robotics and Automations,(1999),2666-2673]Kazuhiro Kosuge, Yasuhisa Hirata, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata
http://hdl.handle.net/10097/46645

[1998]

170. Handling of a Single Object by Multiple Autonomous Mobile Robots in Coordination with Body Force Sensor.[Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,(1998),1419-1424]Kazuhiro Kosuge, Tomohiro Oosumi, Yasuhisa Hirata, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata