Logo Smart Robotics Lab Uemura-Hakamata Lab | Ritsumeikan Univ.

Publications

Publications

International Journal Papers

  1. Mitsunori Uemura, Shota Tsujikawa, Masayoshi Suefuji, Hikaru Arita, "Dynamic Estimation of an Object's Center-of-Mass Direction: A Novel Control Method for Robotic Interaction in Uncertain Environments", Advanced Robotics, Vol. 38, No. 22, pp. 1567-1578, 2024
  2. Mitsunori Uemura, Hiroaki Hirai, "Standing and Stepping Control with Switching Rules for Bipedal Robots Based on Angular Momentum Around Ankle", International Journal of Humanoid Robotics, Vol. 16, No. 5, Article 1950022, 2019
  3. Hitoshi Kino, Kosuke Sakata, Mitsunori Uemura, Naofumi Mori, "Simulation Verification for the Robustness of Passive Compass Gait with a Joint Stiffness Adjustment", Advanced Robotics, Vol. 33, No. 21, pp. 1129-1143, 2019
  4. Mitsunori Uemura, Yuki Mitabe, Sadao Kawamura, "Simultaneous Gravity and Gripping Force Compensation Mechanism for Lightweight Hand-Arm Robot with Low-Reduction Reducer", Robotica, Vol. 37, No. 6, pp. 1090-1103, 2019

International Conference Presentations

  1. to appear

Domestic Journal Papers

  1. 河口大晃, 植村充典, 松本奏是朗, 「多連プーリによる摺動の少ないワイヤの関節経由機構のプーリ配置解析」, 日本ロボット学会誌, Vol. 43, No. 10, pp. 1001-1011, 2025
  2. 萩原孝紀, 植村充典, 「直交3軸を有する小型ワイヤ駆動関節機構」, 日本ロボット学会誌, Vol. 43, No. 5, pp. 541-544, 2025
  3. 植村充典, 「不確定環境での作業を目的とした軽量かつ高逆可動なワイヤ駆動ロボットアーム」, 日本ロボット学会誌, Vol. 39, No. 9, pp. 823-826, 2021
  4. 鎌田一平, 植村充典, 平井宏明, 宮崎文夫, 「起立から歩行開始に至る一連動作における位相面解析」, 電気学会論文誌C, Vol. 139, No. 9, pp. 1020-1026, 2019

Domestic Conference Presentations

  1. 五十子遥人, 松谷祐希, 植村充典, 木野仁, 「筋骨格粘性を有したコンパス型受動歩行モデルの考察」, ロボティクス・メカトロニクス講演会2024 (ROBOMECH2024), 1A1-G02, 2024
  2. 西村海里, 植村充典, 「接触で移動した複数の不確定物体の密なオプティカルフローを用いたセグメンテーション」
  3. 「不確定物体把持のための近接覚センサを用いた重心推定制御の実験的検討」
  4. 北川新, 植村充典, 「光学式近接覚センサの投光量制御を利用した位置制御可能範囲の拡張」
  5. 末藤幹淑, 植村充典, 「オプティカルフローを用いた回転抑制制御による未知物体把持実験」
  6. 柴田和寿, 植村充典, 「カウンターウェイトの動的制御による移動ロボットの転倒抑制」
  7. 鳴田奨太, 植村充典, 「ワイヤ駆動方式における軽量で積載性の高いテンショナー」, 第39回日本ロボット学会学術講演会, 2B2-06, 2021
  8. 笹野誠也, 植村充典, 「金属3Dプリンタを利用した軽量・高可逆動なロボットアームの手首機構」
  9. 宮原輝, 植村充典, 「軽量・高逆可動ワイヤ駆動脚ロボットのための股関節」
  10. 植村充典, 野口雅人, 「多連プーリによる小型軽量かつ摺動の少ないワイヤの関節経由機構」, 第39回日本ロボット学会学術講演会, 2B2-05, 2021
  11. 辻川翔大, 有田光, 植村充典, 「不確定物体把持のための近接覚センサを用いた重心推定制御」, 第39回日本ロボット学会学術講演会, 2F1-04, 2021
  12. 末藤幹淑, 植村充典, 「未知物体把持のための動的重心推定制御」
Publications before FY2019

International Journal Papers

  1. "Highly Energy-Efficient Palletizing Tasks Using Resonance-Based Robot Motion Control", co-authored, 2016, Journal of Mechanical Engineering and Automation, Scientific & Academic Publishing, Vol. 6, No. 1, pp.8-17, co-authors: Kento Matsusaka, Mitsunori Uemura and Sadao Kawamura
  2. "Realization of Highly Energy Efficient Pick-and-Place Tasks using Resonance-based Robot Motion Control", co-authored, 2016, Advanced Robotics, Robotics Society of Japan, Vol. 30, No. 9, pp.608-620, co-authors: Kento Matsusaka, Mitsunori Uemura and Sadao Kawamura
  3. "A stiffness adjustment mechanism maximally utilizing elastic energy of a linear spring for a robot joint", co-authored, 2015, Advanced Robotics, Robotics Society of Japan, Volume 29, Issue 20, pp.1331-1337, co-authors: M. Uemura, K. Matsusaka, Y. Takagi, S. Kawamura.
  4. "Extraction and implementation of muscle synergies in neuro-mechanical control of upper limb movement", co-authored, 2014, Advanced Robotics, Robotics Society of Japan, Vol. 28, No. 11, co-authors: Hang Pham, Yohei Ariga, Kenta Tominaga, Takanori Oku, Kanna Nakayama, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki
  5. "Equilibrium-point control of human elbow-joint movement under isometric environment by using multichannel functional electrical stimulation", co-authored, 2014, Frontiers in Neuroscience, Frontiers, Vol. 8, p. 164, co-authors: Kazuhiro Matsui, Yasuo Hishii, Kazuya Maegaki, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki
  6. "On the origin of muscle synergies: invariant balance in the co-activation of agonist and antagonist muscle pairs", co-authored, 2015, Frontiers in Bioengineering and Biotechnology, Frontiers, vol. 3, no. 192, co-authors: H. Hirai, F. Miyazaki, H. Naritomi, K. Koba, T. Oku, K. Uno, M. Uemura, T. Nishi, M. Kageyama, and H. I. Krebs
  7. "Motion Control with Stiffness Adaptation for Torque Minimization in Multijoint Robots", co-authored, 2014, IEEE Transaction on Robotics, IEEE, Vol. 30, No. 2, pp.352-364, co-authors: M. Uemura, H. Goya, S. Kawamura
  8. "Inverse Dynamics of Human Passive Motion Based on Iterative Learning Control", co-authored, 2012, IEEE Transaction on Systems, Man, and Cybernetics. Part A: Systems and Humans, IEEE, Vol. 42, No. 2, pp.307-315, co-authors: Shohei Taniguchi, Hitoshi Kino, Ryuta Ozawa, Ryota Ishibashi, Mitsunori Uemura, Katsuya Kanaoka and Sadao Kawamura
  9. "Inertia Adaptive Control Based on Resonance for Energy Saving of Mechanical Systems", co-authored, 2012, SICE Journal of Control, Measurement, and System Integration, SICE, Vol. 5, No. 2, pp.109-114, co-authors: G. Lu, S. Kawamura, M. Uemura
  10. "Proposal of an Energy Saving Control Method for SCARA Robots", co-authored, 2012, Journal of Robotics and Mechatronics, Fuji Technology Press, Vol. 24, No. 1, pp.115-122, co-authors: G. Lu, S. Kawamura, M. Uemura
  11. "Diagonalization of Arm Kinematics by the Use of Bi-Articular Muscles", co-authored, 2011, SICE Journal of Control, Measurement, and System Integration, SICE, Vol. 4, No. 2, pp.114-119, co-authors: Takashi Mitsuda, Sadao Kawamura, Mitsunori Uemura, Masahiro Sekimoto

International Conference Presentations

  1. "Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: equilibrium-point-based control approach to constrained motion", co-presented, 2017, The International Society of Motor Control and The Miami Project to Cure Paralysis Progress in Motor Control XI, Miami, co-presenters: E. Watanabe, H. Hirai, Y. Ninomaru, N. Kataoka, Y. Saeki, M. Uemura, F. Miyazaki, and H. I. Krebs
  2. "Effects of partial body-weight support and functional electrical stimulation on gait characteristics during treadmill exercise: pros and cons of saddle-seat-type body-weight support", co-presented, 2017, IEEE 2017 IEEE-RAS-EMBS Int. Conf. Rehabilitation Robotics (ICORR2017), London, co-presenters: N. Kataoka, H. Hirai, F. Yoshikawa, A. Kuroiwa, Y. Nagakawa, E. Watanabe, Y. Ninomaru, Y. Saeki, M. Uemura, F. Miyazaki, T. Hamilton, H. Nakata, T. Nishi, H. Naritomi, and H. I. Krebs
  3. "Efficacy of a knee orthosis that uses an elastic element", co-presented, 2017, IEEE 39th Annual Int. Conf. the IEEE Engineering in Medicine and Biology Society, Jeju, co-presenters: Kamada, M. Uemura, H. Hirai, and F. Miyazaki
  4. "Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: II. experimental evidence for three equilibrium-point-based synergies during human pedaling", co-presented, 2016, IEEE Proc. IEEE-RAS Int. Conf. Humanoid Robots, Cancun, Mexico, co-presenters: E. Watanabe, T. Oku, H. Hirai, F. Yoshikawa, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
  5. "Equilibrium-point-based synergies that encode coordinates in task space: a practical method for translating functional synergies from human to musculoskeletal robot arm", co-presented, 2016, IEEE-RAS International Conference on Humanoid Robotics (Humanoids2016), Cancun, co-presenters: F. Yoshikawa, H. Hirai, E. Watanabe, Y. Nagakawa, A. Kuroiwa, E. P. Grabke, M. Uemura, F. Miyazaki, and H. I. Krebs
  6. "Exploiting invariant structure for controlling multiple muscles in anthropomorphic legs: an inspiration from electromyography analysis of human pedaling", co-presented, 2015, IEEE-RAS International Conference on Humanoid Robotics (Humanoids2015), Seoul, co-presenters: E. Watanabe, T. Oku, H. Hirai, K. Uno, M. Uemura, and F. Miyazaki
  7. "Adaptive tracking control with partial regressor for multi-joint robot", co-presented, 2015, IEEE Annual Conf. the IEEE Industrial Electronics Society (IECON 2015), Yokohama, co-presenters: M. Uemura, H. Hirai, F. Miyazaki
  8. "A feasibility study to assess intralimb coordination in stroke rehabilitation: two indices of mechanical impedance by coactivation of agonist muscles", co-presented, 2015, IEEE International Conference on Rehabilitation Robotics (ICORR2015), Singapore, co-presenters: T. Oku, K. Uno, T. Nishiyama, M. Kageyama, K. Koba, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
  9. "Regulation of muscle activities for fast, accurate, and smooth movements: evolution of virtual trajectory via coupling of directional mechanical impedances", co-presented, 2015, The International Society of Motor Control and The Miami Project to Cure Paralysis Progress in Motor Control X, Budapest, co-presenters: K. Koba, K. Uno, T. Oku, M. Uemura, H. Hirai, and F. Miyazaki
  10. "Mechanism and control of robotic arm using rotational counterweights", co-presented, 2015, IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, co-presenters: Akihiro Kawamura, Byunghyun Gang, Mitsunori Uemura, Sadao Kawamura
  11. "Iterative motion learning with stiffness adaptation for multi-joint robots", co-presented, 2014, IEEE Int. Conf. Robotics and Biomimetics (ROBIO2014), Bali, co-presenters: M. Uemura, S. Kawamura, H. Hirai, F. Miyazaki
  12. "A novel muscle synergy extraction method to explain the equilibrium-point trajectory and endpoint stiffness during human upper-limb movements on a horizontal plane", co-presented, 2014, 5th IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, co-presenters: K. Uno, T. Oku, P. Phatiwuttipat, K. Koba, Y. Yamashita, K. Murakami, M. Uemura, H. Hirai, and F. Miyazaki
  13. "Tacit representation of muscle activities during coordination training: muscle synergy analysis to visualize motor enhancement in virtual trajectory of multi-joint arm movement", co-presented, 2014, 5th IEEE RAS/EMBS Int. Conf. Biomedical Robotics and Biomechatronics (BioRob2014), Sao Paulo, co-presenters: K. Koba, K. Murakami, T. Oku, K. Uno, P. Phatiwuttipat, Y. Yamashita, M. Uemura, H. Hirai, and F. Miyazaki
  14. "Pilot study on quantitative assessment of muscle imbalance: differences of muscle synergies, equilibrium-point trajectories, and endpoint stiffness in normal and pathological upper-limb movements", co-presented, 2014, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2014), Chicago, co-presenters: T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, K. Murakami, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
  15. "Abnormal muscle synergies significantly alter endpoint stiffness and virtual trajectory while drawing in a horizontal plane", co-presented, 2014, European Society for Movement Analysis in Adults and Children 1st Clinical Movement Analysis World Conf. (ESMAC-SIAMOC 2014), Rome, co-presenters: T. Oku, K. Uno, T. Nishi, M. Kageyama, P. Phatiwuttipat, K. Koba, Y. Yamashita, M. Uemura, H. Hirai, F. Miyazaki, and H. Naritomi
  16. "Functional electrical stimulation for equilibrium-point control of human ankle movement: frequency domain system identification of human ankle dynamics", co-presented, 2014, ASME 2014 Dynamic Systems and Control Conference (DSCC 2014), San Antonio, co-presenters: Y. Yamashita, K. Maegaki, K. Matsui, T. Oku, K. Uno, K. Koba, P. Phatiwuttipat, K. Murakami, M. Uemura, H. Hirai, and F. Miyazaki
  17. "Muscle synergy analysis of human adaptation to a variable-stiffness exoskeleton: human walk with a knee exoskeleton with pneumatic artificial muscles", co-presented, 2012, 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, co-presenters: D. Maeda, K. Tominaga, T. Oku, Pham T. T. Hang, S. Saeki, M. Uemura, H. Hirai, and F. Miyazaki
  18. "Analysis of muscle coordination in human pedaling and implementation with a musculoskeletal robot", co-presented, 2012, 12th IEEE-RAS International Conference on Humanoid Robots, Osaka, co-presenters: T. Oku, K. Inoue, Pham T. T. Hang, K. Tominaga, D. Maeda, M. Uemura, H. Hirai, and F. Miyazaki
  19. "Novel equilibrium-point control of agonist-antagonist system with pneumatic muscles II: application to EMG-based human-machine interface for an elbow-joint system", co-presented, 2012, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), Vilamoura, co-presenters: Y. Ariga, D. Maeda, H. Pham, M. Uemura, H. Hirai, and F. Miyazaki
  20. "Realization of high-energy efficient pick-and-place tasks of scara robots by resonance", co-presented, 2012, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), Vilamoura, co-presenters: Hidemasa Goya, Kento Matsusaka, Mitsunori Uemura, Yasutaka Nishioka, Sadao Kawamura
  21. "Control Strategy for Continuous Jumping of Legged Robot Utilizing Resonance", co-presented, 2010, 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010), Nagoya, co-presenters: Uemura Mitsunori, Oono Hisasi, Goya Hidemasa, Kawamura Sadao
  22. "Passivity-based Controllers for Periodic Motions of Multi-joint Robots with Impact Phenomena", co-presented, 2010, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), Taipei, co-presenters: M. Uemura, S. Kawamura
  23. "A New Mechanical Structure for Adjustable Stiffness Devices with Lightweight and Small Size", co-presented, 2010, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), Taipei, co-presenters: M. Uemura, S. Kawamura
  24. "Resonance-based Task Space Controller for Multi-Joint Robot with Adjustable Equilibrium Angle of Elastic Element", co-presented, 2010, IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, co-presenters: M. Uemura, S. Kawamura
  25. "Generation of Energy Saving Motion for Biped Walking Robot through Resonance-based Control Method", co-presented, 2009, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, co-presenters: M. Uemura, K. Kimura, S. Kawamura
  26. "Adaptive Tuning of Stiffness and Motion for Multi-Joint Robot", co-presented, 2009, The 9th International IFAC Symposium on Robot Control (SYROCO2009), Gifu, co-presenters: M. Uemura, S. Kawamura
  27. "Resonance-based Motion Control Method for Multi-Joint Robot through Combining Stiffness Adaptation and Iterative Learning Control", co-presented, 2009, IEEE International Conference on Robotics and Automation 2009 (ICRA2009), Kobe, co-presenters: M. Uemura, S. Kawamura
  28. "An Energy Saving Control Method of Robot Motions based on Adaptive Stiffness Optimization - Cases of Multi-Frequency Components -", co-presented, 2008, IEEE/RSJ International Conference on Intelligent Robots and Systems 2008 (IROS2008), Nice, co-presenters: M. Uemura, S. Kawamura
  29. "Passive periodic motions of multi-joint robots by stiffness adaptation and DFC for energy saving", co-presented, 2008, SICE Annual Conference 2008 (SICE2008), Chofu, co-presenters: Mitsunori Uemura, Guangqiang Lu, Sadao Kawamura, Shugen Ma
  30. "A New Control Method Utilizing Stiffness Adjustment of Mechanical Elastic Elements for Serial Link Systems", co-presented, 2007, IEEE International Conference on Robotics and Automation (ICRA2007), Rome, co-presenters: M. Uemura, K. Kanaoka, S. Kawamura
  31. "Power Assist Systems based on Resonance of Passive Elements", co-presented, 2006, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006), Beijing, co-presenters: M. Uemura, K. Kanaoka, S. Kawamura
  32. "Power Assist System for Sinusoidal Motion by Passive Element and Impedance Control", co-presented, 2006, IEEE International Conference on Robotics and Automation (ICRA2006), Orlando, co-presenters: M. Uemura, K. Kanaoka, S. Kawamura
  33. "Virtual Power Limiter System which Guarantees Stability of Control Systems", co-presented, 2005, IEEE International Conference on Robotics and Automation (ICRA2005), Barcelona, co-presenters: Kanaoka Katsuya, Uemura Mitsunori

Domestic Journal Papers

  1. 「人間・アクチュエータ・機械的弾性要素の協調を用いたパワーアシストシステムの実験的検討」 共著 2007 『日本ロボット学会誌』、日本ロボット学会 Vol.25、No.6、pp881-886、共著者：植村充典、猪口久仁、上西智、金岡克弥、川村貞夫
  2. 「機械的弾性要素を利用した周期運動用パワーアシストシステム -理論的考察とロバスト性の実験的検証-」 共著 2008 『日本ロボット学会誌』、日本ロボット学会 Vol.26、No.3、pp78-84、共著者：植村充典、金岡克弥、川村貞夫
  3. 「省エネルギーを目的とした適応的剛性調節による複数周波数成分の運動実現」 共著 2008 『日本ロボット学会誌』、日本ロボット学会 Vol.26、No.6、pp54-60、共著者：植村充典、川村 貞夫
  4. 「多関節ロボットの省エネルギーを目的とした適応的剛性調節による周期運動制御法」 共著 2011 『計測自動制御学会論文集』、計測自動制御学会 Vol.47、No.2、pp.110-118、共著者：植村充典、川村 貞夫
  5. 「筋拮抗比と筋活性度を用いた拮抗駆動装置の線形制御と筋電インタフェースへの応用」 共著 2013 『日本ロボット学会誌』、日本ロボット学会 vol. 31, no. 5, pp. 517-526, 共著者：有賀陽平, 前田大輔, 宇野かんな, Hang T. T. Pham, 植村充典, 平井宏明, 宮崎文夫
  6. 「水平面内におけるヒト上肢運動時のEMG信号を利用した筋シナジー・平衡点軌道および手先剛性の新しい評価法の提案」 共著 2014 『日本ロボット学会誌』、日本ロボット学会 vol. 32, no. 7, pp. 603-614, 共著者：宇野かんな, 奥貴紀, 古場啓太郎, 植村充典, 平井宏明, 宮崎文夫.
  7. 「多チャンネル型機能的電気刺激によるヒト肘関節運動の平衡点制御 -等尺性環境下における検証-」 共著 2014 『計測自動制御学会論文集』、計測自動制御学会 vol. 50, no.11, pp. 755-762, 共著者：松居和寛, 菱井康生, 前垣和也, 山下雄人, 植村充典, 平井宏明, 宮崎文夫.
  8. 「水平面肘関節運動における非拘束環境下への拡張を目的とした２ｃｈ型機能的電気刺激 (FES) 平衡点制御モデルの解析」 共著 2015 『生体医工学』、日本生体医工学会 vol. 53, no. 1, pp. 14-20, 共著者：松居和寛, 前垣和也, 山下雄人, 植村充典, 平井宏明, 宮崎文夫.
  9. 「ヒトの下肢運動に関わる不変量としての筋シナジー」 共著 2016 『計測自動制御学会論文集』、計測自動制御学会 vol. 52, no.1, pp. 37-45, 富永健太, 飯村太紀, 植村充典, 平井宏明, 宮崎文夫
  10. 「膝装具歩行における制御戦略の解析」 共著 2016 『日本機械学会論文集』、日本機械学会 vol. 82, no. 843, pp. 1-14, 共著者：鎌田一平, 植村充典, 平井宏明, 宮崎文夫