Publications

Journal Papers

  1. Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi, “Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid,” Advanced Robotics, Vol. 32, Issue 22, pp. 1197-1206, October, 2018.
  2. Takuya Otani, Kenji Hashimoto, Shunsuke Miyamae, Hiroki Ueta, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi, “Upper-Body Control and Mechanism of Humanoids to Compensate for Angular Momentum in Yaw Direction based on Human Running,” Applied Sciences, Vol. 8, No. 1, 16 pages, 2018.
  3. Martim Brandão, Kenji Hashimoto, José Santos-Victor and Atsuo Takanishi, “Footstep Planning for Slippery and Slanted Terrain Using Human-Inspired Models,” IEEE Transactions on Robotics, Vol. 32, No. 4, pp. 868-879, August, 2016.
  4. Egidio Falotico, Nino Cauli, Przemyslaw Kryczka, Kenji Hashimoto, Alain Berthoz, Atsuo Takanishi, Paolo Dario and Cecilia Laschi, “Head stabilization in a humanoid robot: models and implementations,” Autonomous Robots, 16 pages, July, 2016.
  5. Tatsuhiro Kishi, Soichiro Shimomura, Hajime Futaki, Hiroshi Yanagino, Masaaki Yahara, Sarah Cosentino, Takashi Nozawa, Kenji Hashimoto and Atsuo Takanishi, “Development of a Humorous Humanoid Robot Capable of Quick-and-Wide Arm Motion,” IEEE Robotics and Automation Letters (RA-L), Vol. 1, Issue 2, pp. 1081-1088, July, 2016.
  6. Yukitoshi Minami Shiguematsu, Przemyslaw Kryczka, Kenji Hashimoto, Hun-Ok Lim and Atsuo Takanishi, “Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum,” International Journal of Humanoid Robotics, Vol. 13, No. 1, 25 pages, March, 2016.
  7. Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Masanori Sakaguchi, Yasuo Kawakami, Hun-Ok Lim and Atsuo Takanishi, “Joint Mechanism That Mimics Elastic Characteristics in Human Running,” Machines, Vol. 4, Issue 1, Article 5, January, 2016.
  8. Aiman Omer, Reza Ghorbani, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi, “A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation,” Machines, Vol. 4, Issue 1, December, 2015.
  9. Martim Brandão, Ricardo Ferreira, Kenji Hashimoto, Atsuo Takanishi and José Santos-Victor, “On Stereo Confidence Measures for Global Methods: Evaluation, New Model and Integration into Occupancy Grids,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 38, No. 1, pp. 116-128, January, 2016.
  10. Takuya Otani, Kenji Hashimoto, Masaaki Yahara, Shunsuke Miyamae, Takaya Isomichi, Shintaro Hanawa, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi, “Utilization of Human-Like Pelvic Rotation for Running Robot,” Frontiers in Robotics and AI, Vol. 2, Article 17, 9 pages, July, 2015.
  11. Kenji Hashimoto and Atsuo Takanishi, “Biped Robot Research at Waseda University,” Journal of Robotics, Networking and Artificial Life, Vol. 1, Issue 4, pp. 261-264, February, 2015.
  12. Yueh-Hsuan Weng, Yusuke Sugahara, Kenji Hashimoto and Atsuo Takanishi, “Intersection of “Tokku” Special Zone, Robots, and the Law: A Case Study on Legal Impacts to Humanoid Robots,” International Journal of Social Robotics, Vol. 7, Issue 5, pp. 841-857, February, 2015.
  13. Matthieu Destephe, Martim Brandao, Tatsuhiro Kishi, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi, “Walking in the Uncanny Valley: Importance of the Attractiveness on the Acceptance of a Robot as a Working Partner,” Frontiers in Psychology, Vol. 6, No. 204, February, 2015.
  14. Aiman Omer, Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi, “Study of Bipedal Robot Walking Motion in Low Gravity: Investigation and Analysis,” International Journal of Advanced Robotic Systems, 11:139, 14 pages, September, 2014.
  15. Lorenzo Jamone, Martim Brandao, Lorenzo Natale, Kenji Hashimoto, Giulio Sandini and Atsuo Takanishi, “Autonomous online generation of a motor representation of the workspace for intelligent whole-body reaching,” Robotics and Autonomous Systems, Vol. 62, Issue 4, pp. 556-567, April, 2014.
  16. Kenji Hashimoto, Kentaro Hattori, Takuya Otani, Hun-ok Lim and Atsuo Takanishi, “Foot Placement Modification for a Biped Humanoid Robot with Narrow Feet,” The Scientific World Journal, Vol. 2014, Article ID 259570, 9 pages, January, 2014.
  17. Gabriele Trovato, Massimiliano Zecca, Salvatore Sessa, Lorenzo Jamone, Jaap Ham, Kenji Hashimoto and Atsuo Takanishi, “Cross-cultural study on human-robot greeting interaction: acceptance and discomfort by Egyptians and Japanese,” Paladyn, Journal of Behavioral Robotics, Vol. 4, Issue 2, pp. 83-93, December, 2013.
  18. Gabriele Trovato, Tatsuhiro Kishi, Nobutsuna Endo, Massimiliano Zecca, Kenji Hashimoto and Atsuo Takanishi, “Cross-Cultural Perspectives on Emotion Expressive Humanoid Head: Recognition of Facial Expressions and Symbols,” International Journal of Social Robotics, Vol. 5, Issue 4, pp. 515-527, November, 2013.
  19. Gabriele Trovato, Massimiliano Zecca, Tatsuhiro Kishi, Nobutsuna Endo, Kenji Hashimoto and Atsuo Takanishi, “Generation of Humanoid Robot’s Facial Expressions for Context-Aware Communication,” International Journal of Humanoid Robotics, Vol. 10, No. 1, 23 pages, March, 2013.
  20. Kenji Hashimoto, Yuki Takezaki, Hun-ok Lim and Atsuo Takanishi, “Walking Stabilization Based on Gait Analysis for Biped Humanoid Robot,” Advanced Robotics, Vol. 27, No. 7, pp. 541-551, March, 2013.
  21. Giovanni G. Muscolo, Kenji Hashimoto, Paolo Dario and Atsuo Takanishi, “A Comparison between Two Force-Position Controllers with Gravity Compensation Simulated on a Humanoid Arm,” Journal of Robotics, Vol. 2013, Article ID 256364, 14 pages, 2013.
  22. Giovanni G. Muscolo, Carmine T. Recchiuto, Kenji Hashimoto, Paolo Dario and Atsuo Takanishi, “Towards an Improvement of the SABIAN Humanoid Robot: from Design to Optimisation,” Journal of Mechanical Engineering and Automation, Vol. 2, No. 4, pp. 80-84, July, 2012.
  23. Kenji Hashimoto, Hun-ok Lim and Atsuo Takanishi, “Disturbance Compensation Control for Biped Vehicle,” Advanced Robotics, Vol. 25, No. 3, pp. 407-426, February, 2011.
  24. Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, “Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment,” Journal of Robotics and Mechatronics, Vol. 20, No. 5, pp. 775-784, October, 2008.
  25. Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, “Swizzle Movement for Biped Walking Robot Having Passive Wheels,” Journal of Robotics and Mechatronics, Vol. 20, No. 3, pp. 413-419, June, 2008.
  26. Yusuke Sugahara, Giuseppe Carbone, Kenji Hashimoto, Marco Ceccarelli, Hun-ok Lim and Atsuo Takanishi, “Experimental Stiffness Measurement of WL-16RII Biped Walking Vehicle during Walking Operation,” Journal of Robotics and Mechatronics, Vol. 19, No. 3, pp. 272-280, June, 2007.
  27. Kenji Hashimoto, Yusuke Sugahara, Hun-ok Lim and Atsuo Takanishi, “New Biped Foot System Adaptable to Uneven Terrain,” Journal of Robotics and Mechatronics, Vol. 18, No. 3, pp. 271-277, June, 2006.

Reviewed International Conference Proceedings

  1. Keishi Nishikawa, Asaki Imai, Kazuya Miyakawa, Takuya Kanda, Takashi Matsuzawa, Kenji Hashimoto, Atsuo Takanishi, Hiroyuki Ogata and Jun Ohya, “Disaster Response Robot’s Autonomous Manipulation of Valves in Disaster Sites Based on Visual Analyses of RGBD Images,” Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), pp. 4790-4797, Macau, Canada, November, 2019.
  2. Takashi Matsuzawa, Takanobu Matsubara, Keisuke Namura, Xiao Sun, Asaki Imai, Masahiro Okawara, Shunsuke Kimura, Kengo Kumagai, Koki Yamaguchi, Hiroshi Naito, Takehiro Sato, Kota Terae, Masatsugu Murakami, Shunya Yoshida, Atsuo Takanishi, and Kenji Hashimoto, “Moving Onto High Steps for a Four-Limbed Robot with Torso Contact,” Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), pp. 6324-6331, Macau, Canada, November, 2019.
  3. Juri Shimizu, Takuya Otani, Hideki Mizukami, Kenji Hashimoto, and Atsuo Takanishi, “Experimental Validation of Hydraulic Interlocking Drive System for Biped Humanoid Robot,” Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019), pp. 7163-7369, Macau, Canada, November, 2019.
  4. Juri Shimizu, Takuya Otani, Hideki Mizukami, Kenji Hashimoto and Atsuo Takanishi, “Experimental Validation of High-Efficiency Hydraulic Direct-Drive System for a Biped Humanoid Robot – Comparison with Valve-Based Control System,” Proceedings of the 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), pp. 9453-9458, Montreal, Canada, May, 2019.
  5. Juri Shimizu, Takuya Otani, Kenji Hashimoto and Atsuo Takanishi, “Simulation of a Hydraulic Direct-Drive System for a Biped Walking Robot,” Proceedings of the 16th Scandinavian International Conference on Fluid Power (SICFP19), B6.1, Tampere, Finland, May, 2019.
  6. Keishi Nishikawa, Jun Ohya, Hiroyuki Ogata, Kenji Hashimoto, Takashi Matsuzawa and Atsuo Takanishi, “Automatic Detection of Valves with Disaster Response Robot on Basis of Depth Camera Information,” Proceedings of the 2018 Digital Image Computing: Techniques and Applications (DICTA 2018), 6 pages, Canberra, Australia, December, 2018.
  7. Juri Shimizu, Takuya Otani, Kenji Hashimoto and Atsuo Takanishi, “Downsizing the Motors of a Biped Robot Using a Hydraulic Direct Drive System,” Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), pp. 580-586, Beijing, China, November, 2018.
  8. Yukitoshi Minami Shiguematsu, Martim Brandão, Kenji Hashimoto and Atsuo Takanishi, “Effects of Biped Humanoid Robot Walking Gaits on Sparse Visual Odometry Algorithms,” Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), pp. 160-165, Beijing, China, November, 2018.
  9. Xiao Sun, Syota Hayashi, Kenji Hashimoto, Takashi Matsuzawa, Yuki Yoshida, Nobuaki Sakai, Asaki Imai, Masahiro Okawara, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi and Atsuo Takanishi, “Error Compensation System with Proximity Sensors for Vertical Ladder Climbing of the Robot “WAREC-1”,” Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2018), pp. 40-46, Beijing, China, November, 2018.
  10. Takuya Otani, Kenji Hashimoto, Hiroki Ueta, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi, “Jumping Motion Generation of a Humanoid Robot Utilizing Human-like Joint Elasticity,” Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), pp. 8707-8714, Madrid, Spain, October, 2018.
  11. Takashi Matsuzawa, Asaki Imai, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi and Atsuo Takanishi, “End-effector with a Hook and Two Fingers for the Locomotion and Simple Work of a Four-limbed Robot,” Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), pp. 2727-2732, Madrid, Spain, October, 2018.
  12. Wei Xin Tan, Martim Brandão, Kenji Hashimoto and Atsuo Takanishi, “Maximize-perturb-minimize: A fast and effective heuristic to obtain sets of locally optimal robot postures,” Proceedings of the 19th Towards Autonomous Robotic Systems Conference (TAROS 2018), pp. 3-14, Bristol, UK, July, 2018.
  13. Takashi Matsuzawa, Takanobu Matsubara, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Koki Yamaguchi, Keisuke Namura and Atsuo Takanishi, “Body Mechanism with Linear Spikes for Slippage Reduction of Four-limbed Robot Crawling on Uneven Terrain,” Proceedings of the 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), pp. 280-287, Rennes, France, June, 2018.
  14. Takuya Otani, Kenji Hashimoto, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun-ok Lim and Atsuo Takanishi, “Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human,” Proceedings of the 22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2018), pp. 86-93, Rennes, France, June, 2018.

Book Chapters

  1. Kenji Hashimoto, Takashi Matsuzawa, Xiao Sun, Tomofumi Fujiwara, Xixun Wang, Yasuaki Konishi, Noritaka Sato, Takahiro Endo, Fumitoshi Matsuno, Naoyuki Kubota, Yuichiro Toda, Naoyuki Takesue, Kazuyoshi Wada, Tetsuya Mouri, Haruhisa Kawasaki, Akio Namiki, Yang Liu, Atsuo Takanishi and Satoshi Tadokoro, “WAREC-1 – A Four-Limbed Robot with Advanced Locomotion and Manipulation Capabilities,” Disaster Robotics – Results from the ImPACT Tough Robotics Challenge, pp. 327-397, Springer, January, 2019. (ISBN 978-3-030-05321-5)
  2. Tatsuhiro Kishi, Kenji Hashimoto and Atsuo Takanishi, “Human-Like Face and Head Mechanism,” Humanoid Robotics: A Reference, pp. 571-596, Springer, October, 2018. (ISBN 978-94-007-6045-5)
  3. Kenji Hashimoto and Atsuo Takanishi, “WABIAN and Other Waseda Robots,” Humanoid Robotics: A Reference, pp. 265-289, Springer, October, 2018. (ISBN 978-94-007-6045-5)

Patents

  1. *****

Off-campus Events and Seminars

  1. Kenji Hashimoto, “Application of legged robot to disaster response”, Full-day workshop at 2018 IEEE-RAS International Conference on Humanoid Robots: Humanoid Robot for Real Applications Use, Beijing, China, Nevember 6, 2018.
  2. Atsuo Taknaishi and Kenji Hashimoto, “WAREC-1 — A Four-Limbed Robot with Advanced Locomotion and Manipulation Capabilities”, Full-day workshop at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems: ImPACT Tough Robotics Challenge: A National Project of Disaster Robotics Aiming at Social Innovation in Safety and Security, Madrid, Spain, October 5, 2018.
  3. Kenji Hashimoto, Application of Humanoid Robotics to Disaster Response, The 1st IFToMM Japan International Summer School on Mechanical Science and Robotics, Tokyo, Japan, July 24, 2018.

Award

  1. Best Oral Paper Award Finalist, 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), November, 2016.
  2. JTCF Novel Technology Paper Award for Amusement Culture Finalist, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), October, 2016.
  3. Highly Commented Paper Award, 3rd IFToMM International Symposium on Robotics and Mechatronics, Singapore, October, 2013.
  4. Best Conference Paper Finalist, 1st International Conference on Innovative Engineering Systems (ICIES), December, 2012.
  5. Best Conference Paper Finalist, 2nd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2008), October, 2008.
  6. Best Student Paper Finalist, 2nd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB 2008), October, 2008.
  7. IEEE Robotics and Automation Society Japan Chapter Young Award (IROS 2006),2006年10月.