Publications

Journal Papers

  1. Taiki Ishigaki, Ko Ayusawa, Ko Yamamoto, “Comprehensive Gradient Computation Framework of PCS Model for Soft Robot Simulation (accepted),” IEEE Robotics and Automation Letters, 2024. 
  2. Mitsuo Komagata, Yutaro Imashiro, Ryoya Suzuki, Kento Oishi, Ko Yamamoto and Yoshihiko Nakamura, “Development of 6-DOF Manipulator Driven by Ceramics Reinforced Hydrostatic Actuators and its Experimental Evaluations on Force Control and Payload Abilities,” Advanced Robotics, 2024.  https://doi.org/10.1080/01691864.2024.2337173
  3. Mitsuo Komagata, Takahiro Nakanishi, Ko Yamamoto and Yoshihiko Nakamura, “Development of Compact Revolute Electro-hydrostatic Actuator Module and Evaluation of its Backdrivability and Internal Leakage,” Advanced Robotics, Vol. 37, Issue 22, pp. 1419-1437, 2023.  https://doi.org/10.1080/01691864.2023.2279599
  4. Kyosuke Ishibashi, Mitsuo Komagata, Hiroki Ishikawa, Osamu Azami and Ko Yamamoto, “Compact Water Pump and its Application to Self-contained Soft Robot Hand for Vegetable Factory,” Advanced Robotics, Vol. 37, Issue 15, pp. 970-986, 2023. https://doi.org/10.1080/01691864.2023.2238800
  5. Mitsuo Komagata, Ko Yamamoto and Yoshihiko Nakamura, “Compact, Backdrivable, and Efficient Design of Linear Electro-Hydrostatic Actuator Module,” Vol. 36, No. 19, pp.1030-1047, Advanced Robotics, 2022. https://doi.org/10.1080/01691864.2022.2119884
  6. Keisuke Hagiwara, Ko Yamamoto, Yoshihisa Shibata, Mitsuo Komagata and Yoshihiko Nakamura, “On High Stiffness of Soft Robots for Compatibility of Deformation and Function,” Vo. 36, No. 19, pp. 995-1010, Advanced Robotics, 2022. https://doi.org/10.1080/01691864.2022.2117574
  7. Ko Yamamoto, Kazuya Murotani, Tianyi Ko and Yoshihiko Nakamura, “Resolved Viscoelasticity Control for Robust Walking of a Humanoid with Knee-stretched Posture Considering Singularity,” Robotics and Autonomous Systems, 2022. https://doi.org/10.1016/j.robot.2022.104218
  8. Yu Nakahira, Shuji Taketomi, Kohei Kawaguchi, Yuri Mizutani, Masato Hasegawa, Chie Ito, Emiko Uchiyama, Yosuke Ikegami, Ko Yamamoto, Yoshihiko Nakamura, Sakae Tanaka, and Toru Ogata, “Kinematic Differences Between the Dominant and Nondominant Legs During a Single-Leg Drop Vertical Jump in Female Soccer Players (accepted),” The American Journal of Sports Medicine, 2022. https://doi.org/10.1177/03635465221107388
  9. Ko Yamamoto, Taiki Ishigaki and Yoshihiko Nakamura, “Humanoid Motion Control by Compliance Optimization Explicitly Considering its Positive Definiteness,” IEEE Transactions on Robotics, Volume 38, Issue 3, pp. 1973-1989, 2022. https://doi.org/10.1109/TRO.2021.3119934
  10. Hae Yeon Park, Jung Hoon Kim, and Ko Yamamoto, “A New Stability Framework for Trajectory Tracking Control of Biped Walking Robots (accepted),” IEEE Transactions on Industrial Informatics, 2022. https://doi.org/10.1109/TII.2021.3139909
  11. Liming Shu, Ko Yamamoto, Reina Yoshizaki, Jiang Yao, Takashi Sato, Naohiko Sugita, “Multiscale Finite Element Musculoskeletal Model for Intact Knee Dynamics (accepted),” Computers in Biology and Medicine, 2021. https://doi.org/10.1016/j.compbiomed.2021.105023
  12. Tianyi Ko, Kazuya Murotani, Ko Yamamoto, and Yoshihiko Nakamura, “Whole-body Compliant Motion by Sensor Integration of an EHA-driven Humanoid Hydra,” International Journal of Humanoid Robotics, 2021. https://doi.org/10.1142/S021984362150002X
  13. Liming Shu, Jiang Yao, Ko Yamamoto, Takashi Sato and Naohiko Sugita, “In vivo Kinematical Validated Knee Model for Preclinical Testing of Total Knee Replacement,” Computers in Biology and Medicine, Vol. 132, 2021. https://doi.org/10.1016/j.compbiomed.2021.104311
  14. Kazuya Murotani, Ko Yamamoto, Taiki Ishigaki and Yoshihiko Nakamura, “Comparative Study of Force Control Methods for Bipedal Walking using a Force-sensitive Hydraulic Humanoid,” Advanced Robotics, 2020. https://doi.org/10.1080/01691864.2020.1835533
  15. Mitsuo Komagata, Tianyi Ko, Ko Yamamoto, and Yoshihiko Nakamura, “Experimental Study on Critical Design of Electro-Hydrostatic Actuators Small in Size and Light in Weight,” Journal of Robotics and Mechatronics, Vol. 32, No. 5, pp. 911-922, 2020. https://doi.org/10.20965/jrm.2020.p0911
  16. Ryoya Suzuki, Mitsuo Komagata, Tianyi Ko, Kazuya Murotani, Hiroshi Kaminaga, Mamoru Tatano, Ko Yamamoto, Yoshihiko Nakamura, “Development of 3-DOF Wrist Mechanism for Electro-Hydrostatically Driven Robot Arm,” Advanced Robotics, Volume 34, Issue 14, pp. 958-973, 2020. https://doi.org/10.1080/01691864.2020.1778522
  17. Ko Yamamoto, Shinsaku Kuwada, Yoshihiko Nakamura, “Modeling, Prediction, and Anomaly Detection of Manned-Vehicle Behavior in Open Field Based on Velocity Vector and Variance Tensor Fields,” Advanced Robotics, Volume 34, Issue 6, pp. 343-357, 2020. https://doi.org/10.1080/01691864.2019.1709895
  18. Ko Yamamoto, “Time-variant Feedback Controller based on Capture Point and the Maximal Output Admissible Set of a Humanoid,” Advanced Robotics, Vol. 33, No. 18, pp. 944-955, 2019. https://doi.org/10.1080/01691864.2019.1633403
  19. Liming Shu, Ko Yamamoto, Shin Kai, Junichi Inagaki, and Naohiko Sugita, “Symmetrical Cruciate-Retaining versus Medial Pivot Prostheses: The Effect of Intercondylar Sagittal Conformity on Knee Kinematics and Contact Mechanics,” Computers in Biology and Medicine, Vol. 108, pp. 101-110, 2019. https://doi.org/10.1016/j.compbiomed.2019.03.005
  20. Liming Shu, Ko Yamamoto, Jiang Yao, Prabhav Saraswat, Yao Liu, Mamoru Mitsuishi, Naohiko Sugita “A Subject-Specific Finite Element Musculoskeletal Framework for Mechanics Analysis of a Total Knee Replacement,” Journal of Biomechanics, Vol. 77, pp. 146-154, 2018. https://doi.org/10.1016/j.jbiomech.2018.07.008
  21. Ko Yamamoto, “Resolved Multiple-Viscoelasticity Control for a Humanoid,” IEEE Robotics and Automation Letters, Vol. 3, No. 1, pp. 44-51, 2017. https://doi.org/ 10.1109/LRA.2017.2728864
  22. 山本江, “ヒューマノイドの構造可変性を陽に考慮した粘弾性分配制御,” 日本ロボット学会誌, Vol. 35, No. 2, pp. 160-169, 2017. https://doi.org/10.7210/jrsj.35.160
  23. Ko Yamamoto, “Humanoid Motion Analysis and Control based on COG Viscoelasticity,” Advanced Robotics, Vol. 31, No. 7, pp. 341-354, 2017.  https://doi.org/10.1080/01691864.2016.1270853
  24. 山本江, 志鷹拓哉, “ヒューマノイドのリミットサイクル型コントローラにおける最大出力許容集合と運動遷移制御,” 日本ロボット学会誌, Vol. 34, No. 5, pp. 331-339, 2016. https://doi.org/ 10.7210/jrsj.34.331
  25. Ko Yamamoto, “Control Strategy Switching for Humanoid Robots Based on Maximal Output Admissible Set,” Robotics and Autonomous Systems, Volume 81, 2016, pp. 17-32. https://doi.org/ 10.1016/j.robot.2016.03.010
  26. 山本江, “2足歩行ロボットの軌道追従制御における最大出力許容集合と転倒回避制御への応用,” 日本ロボット学会誌, Vol. 32, No. 7, pp. 633-642, 2014. https://doi.org/ 10.7210/jrsj.32.633
  27. 岡田昌史, 茂木祐一, 山本江, “イベント空間における閲覧者モデルとアメニティ空間設計,” 日本ロボット学会誌, Vol. 32, No. 1, pp. 45-54, 2014. https://doi.org/ 10.7210/jrsj.32.45
  28. Ko Yamamoto and Masafumi Okada. “Control of Swarm Behavior in Crossing Pedestrians Based on Temporal/Spatial Frequencies,” Robotics and Autonomous Systems, Volume 61, Issue 9, September 2013, pp. 1036-1048. https://doi.org/ 10.1016/j.robot.2013.06.001
  29. 山本江, 岡田昌史. “交差流の時間・空間周波数に基づく歩行者群制御,” 日本ロボット学会誌, Vol. 29, No. 8, pp. 737-744, 2011. https://doi.org/ 10.7210/jrsj.29.737
  30. 山本江, 中村仁彦. “最大CPI 集合に基づくスイッチングフィードバック制御によるヒューマノイドロボットの安定化,” 日本ロボット学会誌, Vol. 29, No. 4, pp. 384-394, 2011. https://doi.org/ 10.7210/jrsj.29.384
  31. 高野渉, 山根克, 杉原知道, 山本江, 中村仁彦. “身体記号化モデルに基づく人間とヒューマノイドロボットのコミュニケーション理論,” 日本ロボット学会誌, Vol. 28, No. 6, pp. 735-745, 2010. https://doi.org/ 10.7210/jrsj.28.735
  32. Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura. “Hardware design of high performance miniature anthropomorphic robots,” Robotics and Autonomous Systems, Vol. 56, Issue 1, pp.82-94, 2007. https://doi.org/ 10.1016/j.robot.2007.09.012


Book Chapter

  1. Mitsuo Komagata, Ko Yamamoto, Yoshihiko Nakamura, “Design of Gear Pump of Electro-Hydrostatic Actuator for Robots,” in State-of-the-Art and Innovations in Mechanism and Machine Science: A Tribute to Carlos López-Cajún, Editors: Marco Ceccarelli and Juan Carlos Jauregui-Correa, Springer Nature Switzerland, pp. 153–167, 2024.  https://doi.org/10.1007/978-3-031-47040-0_11
  2. Ko Yamamoto, “Humanlike Toe Joint Mechanism,” in Humanoid Robotics: A Reference, Editors: Goswami, Ambarish, Vadakkepat, Prahlad (Eds.), Springer, 2018. https://doi.org/10.1007/978-94-007-7194-9_82-1


International Conference Papers

  1. Akihiro Sakura and Ko Yamamoto, “Learning and Simulation of Spatiotemporally Multi-Scale Pedestrian Flow Model (accepted),” in Proceedings of 2024 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO), 2024.
  2. Akihiro Sakurai, Yosuke Ikegami and Ko Yamamoto, “VR Pedestrian Flow Simulator by Real-time 3D Motion Reconstruction for Multiple Characters,” in Proceedings of the 16th IFToMM World Congress 2023, pp. 266-275, 2023.
  3. Kazuya Tomabechi, Yosuke Ikegami, Ko Yamamoto and Yoshihiko Nakamura, “Functional Drift Filtering of IMU for Long Term Wholebody Motion Capturing,” in Proceedings of the 16th IFToMM World Congress 2023, pp. 173-183, 2023.
  4. Mitsuo Komagata, Ko Yamamoto and Yoshihiko Nakamura, “Design of Movable Casing for Friction Reduction of External Gear Pump for Hydraulic Actuators,” in Proceedings of the 16th IFToMM World Congress 2023, pp. 389-398, 2023.
  5. Osamu Azami, Kyosuke Ishibashi, Mitsuo Komagata and Ko Yamamoto, “Development of Hydraulically-driven Soft Hand for Handling Heavy Vegetables and its Experimental Evaluation,”  in Proceedings of IEEE International Conference on Robotics and Automation, pp. 2577-2583, 2023.
  6. Sunghee Kim, Taiki Ishigaki, Yuta Shimane, Yosuke Ikegami, and Ko Yamamoto, “Inverse Kinematics of Hybrid Multi-link System and its Application to Motion Capture for Athlete Wearing Sports Prosthesis,” in Proceedings of the 2022 IEEE-RAS International Conference on Humanoid Robots, pp. 837-842, 2022.
  7. Zewen He and Ko Yamamoto, “Humanoid Running based on 3D COG-ZMP Model and Resolved Centroidal Viscoelasticity Control,” in Proceedings of the 2022 IEEE-RAS International Conference on Humanoid Robots, pp. 645-650, 2022.
  8. Mitsuo Komagata, Yutaro Imashiro, Ryoya Suzuki, Kento Oishi, Ko Yamamoto, and Yoshihiko Nakamura, “Experimental Study on Impact Resistance of Multi-DOF Electro-Hydrostatic Robot Systems Using Hydracer, a 6DOF Arm,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 7352-7358, 2022.
  9. Yuta Shimane, Taiki Ishigaki, Sunghee Kim, Yosuke Ikegami, and Ko Yamamoto, “Application of Piece-wise Constant Strain Model to Flexible Deformation Calculation of Sports Prosthesis and Stiffness Estimation,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 6547-6553, 2022.
  10. Ko Yamamoto, Naoki Kobayashi, Taiki Ishigaki, and Yuichi Sakemi, “Integration of Variable-height and Hopping Strategies for Humanoid Push Recovery,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 12979-12985, 2022.
  11. Kazuya Tomabechi, Yosuke Ikegami, Ko Yamamoto, and Yoshihiko Nakamura, “Learning Whole-body Effects for Biomechanics Analysis from Partial IMU Sensing,” in Proceedings the of 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 734-739, 2022.
  12. Natsu Ooke, Yosuke Ikegami, Ko Yamamoto, and Yoshihiko Nakamura, “Transfer Learning of Deep Neural Network Human Pose Estimator by Domain-Specific Data for Video Motion Capturing (accepted),” in Proceedings of 2022 IEEE International Conference on Advanced Robotics and its Social Impacts, 2022.
  13. Zewen He and Ko Yamamoto, “Decoupling of Inertia Effect in Angular Momentum of a Humanoid and its Application to Resolved Viscoelasticity Control (accepted),” in Proceedings of IEEE International Conference on Robotics and Automation, 2022.
  14. Hinako Suzuki, Akihiko Murai, Yosuke Ikegami, Emiko Uchiyama, Ko Yamamoto, Ayaka Yamada, Yuri Mizutani, Kohei Kawaguchi, Shuji Taketomi and Yoshihiko Nakamura, “Muscle Activity Estimation at Drop Vertical Jump Landing Using Passive Muscle Mechanical Model,” in Proceedings of the 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 4722-4727, 2021. https://doi.org/10.1109/embc46164.2021.9630537
  15. Akihiro Sakurai, Yosuke Ikegami, Milutin Nikolic, Yoshihiko Nakamura and Ko Yamamoto, “Visualization of Human Motion via Virtual Reality Interface and Interaction Based on it,” in Proceedings of the 9-th International Conference on Sport Sciences Research and Technology Support (icSPORTS 2021), pp. 130-137, 2021. https://doi.org/10.5220/0010688800003059
  16. Taiki Ishigaki and Ko Yamamoto, “Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies,” in Proceedings of IEEE International Conference on Intelligent Robots and Systems, pp. 2793-2798, 2021. https://doi.org/10.1109/IROS51168.2021.9636733
  17. Mitsuo Komagata, Yutaro mashiro, Ko Yamamoto, Yoshihiko Nakamura “Preferred Oil and Ceramics Options for EHA Drive Systems and Computed Torque Control of an EHA-Driven Robot Manipulator,” in Proceedings of 30th IEEE International Conference on Robot and Human Interactive Communication, pp. 540-545, 2021. https://doi.org/10.1109/RO-MAN50785.2021.9515398
  18. Ko Yamamoto and Ian Iakubchik, “Continuum Model Simulation and Congestion Reduction Control of Four-directional Human Flows assuming Scramble Crossing,” in Proceedings of the 4th International Symposium on Swarm Behavior and Bio-inspired Robotics (SWARM2021), pp. 126-136, 2021.
  19. Takahiro Nakanishi, Mitsuo Komagata, Ko Yamamoto, Yoshihiko Nakamura “Toward High Power-to-Weight Ratio Electro-Hydrostatic Actuators for Robots,” Proceednings of the 17th International Symposium on Experimental Robotics, pp. 116-125, 2020. https://doi.org/10.1007/978-3-030-71151-1_11
  20. Ko Yamamoto, Ryo Yanase and Yoshihiko Nakamura, “Maximal Output Admissible Set of Foot Position Control in Humanoid Walking,” in proceedings of the 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY), pp. 43-51, 2020. https://doi.org/10.1007/978-3-030-58380-4_6
  21. Kaixuan Guan, Ko Yamamoto, Yoshihiko Nakamura, “Virtual-Mass-Ellipsoid Inverted Pendulum Model and Its Applications to 3D Bipedal Locomotion on Uneven Terrains,” in proceedings of IEEE International Conference on Intelligent Robots and Systems, pp. 1401-1406, 2019. https://doi.org/10.1109/IROS40897.2019.8968284
  22. Kaixuan Guan, Ko Yamamoto, Yoshihiko Nakamura, “Push Recovery by Angular Momentum Control during 3D Bipedal Walking Based on Virtual-mass-ellipsoid Inverted Pendulum Model,” in proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 128-133, Oct. 15-17, Tronto, Canada, 2019. https://doi.org/10.1109/humanoids43949.2019.9035021
  23. Ko Yamamoto, Yoshihiko Nakamura, “Compliance Optimization Considering Dynamics for Whole-body Control of a Humanoid,” in proceedings of International Symposium on Robotics Research, Oct. 6-10, Hanoi, Vietnam, 2019. https://doi.org/10.1007/978-3-030-95459-8_54
  24. Kazuya Murotani, Ko Yamamoto, Tianyi Ko and Yoshihiko Nakamura, “Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid,” in proceedings of IEEE International Conference on Robotics and Automation, pp. 250-255, 2019. Montreal, Canada. https://doi.org/10.1109/ICRA.2019.8793605
  25. Tianyi Ko, Ko Yamamoto, Kazuya Murotani, and Yoshihiko Nakamura, “Compliant Biped Locomotion of Hydra, an Electro-Hydrostatically Driven Humanoid,” in Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 587-592, 2018. https://doi.org/10.1109/HUMANOIDS.2018.8624973
  26. Ko Yamamoto, Tianyi Ko, Kazuya Murotani, and Yoshihiko Nakamura, “Experimental Validation of Resolved Viscoelasticity Control on Hydrostatically Driven Humanoid Hydra,” in proceedings of International Symposium on Experimental Robotics, 2018.
  27. S. Liming, N. Sugita, J. Yao, K. Yamamoto, and M. Mitsuishi, “Comparison of knee joint mechanics in concurrent finite element musculoskeletal model of the healthy and mobile bearing prosthesis knee (accepted),” in World Congress of Biomechanics 2018, 2018.
  28. Shu Liming, Ko Yamamoto, Naohiko Sugita and Mamoru Mitsuishi, “What kinematics and contact mechanics differences bewteen standard and medial pivot prosthesis: an explicit finite element analysis dased on gait cycle”, the XXVI Congress of the International Society of Biomechanics, 2017.
  29. Liming Shu, Naohiko Sugita, Prabhav Saraswat, Jiang Yao, Reina Yoshizaki, Ko Yamamoto, Mamoru Mitsuishi, “A concurrent patient-specific musculoskeletal and finite element modeling framework for predicting in vivo kinematics and contact mechanics of total knee replacement”, Science in the Age of Experience, 2017.
  30. Ko Yamamoto, “Robust Walking by Resolved Viscoelasticity Control Explicitly Considering Structure-Variability of a Humanoid,” in proceedings of 2017 IEEE International Conference on Robotics and Automation, pp. 3461-3468, 2017. https://doi.org/10.1109/ICRA.2017.7989395
  31. Shu Liming, Naohiko Sugita, Takehiro Shimada, Ko Yamamoto, Toru Kizaki, Mamoru Mitsuishi, “Design and Experimental Analysis of Step Drills Aiming Orthopedic Surgery,” The 31st Annual Meeting of the American Society for Precision Engineering, 551-555, Portland, USA, Oct 22-27, 2016
  32. Ko Yamamoto, “Resolved COG Viscoelasticity Control of a Humanoid,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1364-1371, 2016. https://doi.org/10.1109/IROS.2016.7759224
  33. Yusuke Kurose, Kanako Harada, Ko Yamamoto, Naoyuki Shono, Hirofumi Nakatomi, Nobuhito Saito, Akio Morita, Eiju Watanabe, Naohiko Sugita, Mamoru Mitsuishi, “Stiffness-based Recognition of Grasped Object for Cable Driven Surgical Robotic Instrument,” in Proceedings of the 12th Asian Conference on Computer Aided Surgery (ACCAS), pp. 137-139, 2016.
  34. P. Plotner, K. Yoshikawa, K. Harada, K. Yamamoto, N. Sugita, and M. Mitsuishi, “Control of a Medical Microrobot in 2D Vascular Phantoms with Pulsatile Flow Using a Pair of Electromagnetic Coils,” in Proc. of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016. https://doi.org/10.1109/BIOROB.2016.7523652
  35. K. Yoshikawa, P. Plotner, K. Yamamoto, K. Harada, N. Sugita, and M. Mitsuishi, “Control of a Surgical Intravascular Microrobot in a Pulsatile Flow Using Rotating Electromagnetic Coils,” in Proc. of the 2015 JSME/RMD International Conference on Advanced Mechatronics (ICAM2015), 2015.
  36. S. H. Kim, K. Yoshikawa, P. Plotner, K. Yamamoto, K. Harada, and M. Mitsuishi, “Preliminary Study on Control of a Magnetically Propelled Intravascular Microrobot,” in Proc. of the 2015 JSME/RMD International Conference on Advanced Mechatronics (ICAM2015), 2015.
  37. Ko Yamamoto, “Falling Detection for Humanoid Robot based on MOA Set with Macroscopic Feedback Gain,” in Proceedings of the14th World Congress in Mechanism and Machine Science, 2015. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.059
  38. P. Plotner, K. Yoshikawa, S. Yanagisawa, K. Yamamoto, K. Harada, and N. Sugita, M. Mitsuishi, “Comparison of theoretical and measured forces on magnetically propelled microrobots in a vascular phantom,” in Proceedings of the 2nd CIRP Conference on Biomanufacturing, 2015.
  39. Ko Yamamoto and Takuya Shitaka, “Maximal Output Admissible Set for Limit Cycle Controller of Humanoid Robot,” in Proceedings of IEEE International Conference on Robotics and Automation, pp. 5690-5697, May, 2015, Seattle, Washington. https://doi.org/10.1109/ICRA.2015.7139996
  40. Ko Yamamoto, “Identification of Macroscopic Feedback Gain in Position-controlled Humanoid Robot and its Application to Falling Detection,” in Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 487-492, November, 2014, Madrid, Spain. https://doi.org/10.1109/HUMANOIDS.2014.7041406
  41. Ko Yamamoto, “Falling Prevention of Humanoid Robots by Switching Standing Balance and Hopping Motion Based on MOA Set,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2523-2528, September, 2014. Chicago, US. https://doi.org/10.1109/IROS.2014.6942906
  42. Ko Yamamoto, “Maximal Output Admissible Set for Trajectory Tracking Control of Biped Robots and its Application to Falling Avoidance Control,” in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3643-3648, November, 2013. Tokyo, Japan. https://doi.org/10.1109/IROS.2013.6696876
  43. Ko Yamamoto and Masafumi Okada, “Dynamic Control of People Queue Formation in Commercial Facility,” in Proceedings of SICE Annual Conference, pp.1080-1085, September, 2013. Nagoya University, Japan.
  44. Ko Yamamoto, Hiroki Iioka and Goro Obinata, “Control of Walking Direction on the CPG-Based Neuro-Musculo-SkeletalWalking Model,” in Proceedings of SICE Annual Conference, pp.419-424, September, 2013. Nagoya University, Japan.
  45. Masafumi Okada, Yuichi Motegi and Ko Yamamoto, “Human Swarm Modeling in Exhibition Space and Space Design,” in Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2011), pp.5021-5026, September, 2011. San Francisco, California, USA. https://doi.org/10.1109/IROS.2011.6094597
  46. Ko Yamamoto and Masafumi Okada, “Continuum Model of Crossing Pedestrian Flows and Swarm Control Based on Temporal/Spatial Frequency,” in Proceedings of the 2011 IEEE International Conference on Robotics and Automation (ICRA2011), pp.3352-3357, May, 2011, Shanghai, China. https://doi.org/10.1109/ICRA.2011.5980444
  47. Ko Yamamoto and Yoshihiko Nakamura, “Switching Control and Quick Stepping Motion Generation Based on the Maximal CPI Sets for Falling Avoidance of Humanoid Robots,” in Proceedings of the 2010 IEEE International Conference on Robotics and Automation (ICRA2010), pp.3292-3297, Anchorage, Alaska, USA, May, 2010. https://doi.org/10.1109/ROBOT.2010.5509824
  48. Ko Yamamoto and Yoshihiko Nakamura, “Switching Feedback Controllers Based on the Maximal CPI Sets for Stabilization of Humanoid Robots,” in Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids09), pp.549-554, Paris, France, December, 2009. https://doi.org/10.1109/ICHR.2009.5379518
  49. Katsu Yamane, Yoshihiko Nakamura and Kou Yamamoto, “Dynamics Simulation of Humanoid Robots with Position-Controlled Joints and Closed Kinematc Chain,” in Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), pp.1109-1114, Nice, France, September, 2008.
  50. Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, “Gait Planning including Toe Contact with Boundary Condition Relaxation,” in Proceedings of the 17th CISM-IFToMM Symposium (RoManSy17), pp.409-416, Waseda University, Tokyo, Japan, July, 2008.
  51. Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, “Toe Joint Mechanism Using Parallel Four-bar Linkage Enabling Humanlike Multiple Support at Toe Pad and Toe Tip,” in Proceedings of the 2007 IEEE-RAS International Conference on Humanoid Robots (Humanoids07), pp.410-415, Pittsburgh, Pennsylvania, USA, November, 2007.
  52. Wataru Takano, Katsu Yamane, Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura, “Primitive Communication based on Motion Recognition and Generation with Hierarchical Mimesis Model,” in Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA2006), pp.3602-3609, Orlando, Florida, USA, May, 2006.
  53. Tomomichi Sugihara, Wataru Takano, Katsu Yamane, Kou Yamamoto and Yoshihiko Nakamura, “Online Dynamical Retouch of Motion Patterns Towards Animatronic Humanoid Robots,” in Proceedings of the 2005 IEEE-RAS International Conference on Humanoid Robots (Humanoids2005), pp.117-122, Tsukuba, Ibaraki, Japan, December, 2005.
  54. Tomomichi Sugihara, Kou Yamamoto, Wataru Takano, Katsu Yamane and Yoshihiko Nakamura, “Animatronic Humanoid Robot System That Responsively Interacts with Humans,” in Proceedings of the 36th International Symposium on Robotics (ISR’05), TH1C5, Tokyo, Japan, November 30-December 1, 2005.
  55. Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura “Architectural Design of Miniature Anthropomorphic Robots Towards High-Mobility,” in Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2005), pp.1083-1088, Edmonton, Canada, August 2-6, 2005.


Survey Papers

  1. Ko Yamamoto, Takumi Kamioka, Tomomichi Sugihara, “Survey on model-based biped motion control for humanoid robots,” Advanced Robotics, Volume 34, Issue 21-22, pp. 1353-1369, 2020. https://doi.org/10.1080/01691864.2020.1837670
  2. 山本江, “人型ロボットの爪先機構,” バイオメカニズム学会誌, Vol. 43, No. 2, pp. 111-117, 2019.
  3. 山本江,“人型ロボットの歩行制御,” 日本ロボット学会誌, vol. 32, no. 2, pp. 103-109, 2018.
  4. 杉原知道, 小澤隆太, 神永拓, 田崎勇一, 野沢峻一, 橋本健二, 舛屋賢, 森澤光晴, 山本江, “ヒューマノイド・ロボティクス2016夏の学校開催の経緯,” 日本ロボット学会誌, vol. 32, no. 2, pp. 90-94, 2018.

Patents

  1. 特開2024-035808：山本江，中村仁彦，駒形光夫，吉野一郎 ，地崎潤，「外接歯車ポンプ」国立大学法人 東京大学，株式会社不二越，公開日2024.3.14 , 出願日2023.8.22
  2. 特開2023-035981：中村仁彦，山本江，池上洋介，苫米地和也，根本謙治，佐々木寛弥，「運動解析方法及び装置」国立大学法人 東京大学，旭化成株式会社，公開日2023.3.13,  出願日2022. 8.29
  3. 特開2022-46183：中村仁彦，山本江，駒形光夫，中西貴大，「電気静油圧アクチュエータモジュール」国立大学法人 東京大学，2020.9.10
  4. 特開2020-195431：中村仁彦，山本江，池上洋介，田中玲至，櫻井彬光，山田文香，「トレーニング支援方法及び装置」国立大学法人 東京大学，2020.12.10