International Journal Papers

1. Masahiro Kondo, Jun Ueda, Tsukasa Ogasawara, "Recognition of In-Hand Manipulation using Contact State Transition for Multifingered Robot Hand Control", Journal of Robotics and Autonomous Systems, Volume 56, Issue 1, pp. 66--81, January 31, 2008. [LINK (ScienceDirect)]

2. Jun Ueda, Lael Odhner, H. Harry Asada, "Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological Muscle Control," The International Journal of Robotics Research, Volume 26, Issue 11-12, pp. 1251--1265, November-December 2007. [LINK (Sage Journals Online)]

3. Jun Ueda, Atsutoshi Ikeda, Tsukasa Ogasawara, "Grip-force Control of an Elastic Object by Vision-based Slip Margin Feedback during the Incipient Slip", IEEE Transactions on Robotics, Vol.21, Issue 6, pp.1139- 1147, December, 2005.

4. Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Slip-adaptive Walk of Quadruped Robot", Journal of Robotics and Autonomous Systems, Vol. 53, Issue 2 , pp.124-141, November, 2005.

5. Yuichi Kurita, Atsutoshi Ikeda, Jun Ueda, Tsukasa Ogasawara, "A Fingerprint Pointing Device Utilizing the Deformation of the Fingertip during the Incipient Slip", IEEE Transactions on Robotics, Vol.21, Issue 5, pp.801- 811, October, 2005.

6. Jun Ueda, Tsuneo Yoshikawa, "Robust Arm Configuration of Manipulator Mounted on Flexible Base", IEEE Transactions on Robotics, Vol. 20, No. 4, pp.781- 789, Aug., 2004.

7. Jun Ueda, Tsuneo Yoshikawa, "Force Reflecting Bilateral Teleoperation with Time Delay By Signal Filtering", IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, pp.613- 619, June, 2004.

8. Jun Ueda, Tsuneo Yoshikawa, "Mode Shape Compensator for Improving Robustness of Manipulator Mounted on Flexible Base", IEEE Transactions on Robotics and Automation, Vol. 20, No. 2, pp. 256- 268, April, 2004.

9. Jun Ueda, Ryoji Negi, Tsuneo Yoshikawa, "Acquisition of a Page Turning Skill for a Multifingered Hand using Reinforcement Learning", Advanced Robotics, Vol.18, No. 1, pp.101-114, Jan., 2004.

10. Jun Ueda, Akihiko Imagi, Hitoshi Tamayama, Tsuneo Yoshikawa, "Track Following Control for Large Capacity Flexible Disk Drive: Disturbance Observer Design using Two Position Sensors", Journal of Robotics and Mechatronics, Vol. 15, No. 4 , pp. 458-468, Aug., 2003.

1. Jun Ueda, Masayuki Matsugashita, Reishi Oya, and Tsukasa Ogasawara, "Control of Muscle Force During Exercise Using a Musculoskeletal-Exoskeletal Integrated Human Model," Experimental Robotics, The 10th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, ISBN:978-3-540-77456-3,pp. 143--152, Volume 39, 2008.

2. Lael Odhner, Jun Ueda, Harry Asada, "Force feedback of Stochastic Cellular Actuators," Experimental Robotics, The 10th International Symposium on Experimental Robotics, Springer Tracts in Advanced Robotics, ISBN:978-3-540-77456-3,pp. 481--490, Volume 39, 2008.

3. Jun Ueda, Kenji Shirae, Shingo Oda, Tsukasa Ogasawara, "Momentum Compensation for the Fast Dynamic Walk of Humanoids based on the Pelvic Rotation of Contact Sport Athletes", Humanoid Robots: Human-like Machies, Matthias Hackel Eds, ISBN: 978-3-902613-07-3, Chapter 15, pp.245-262, 2007, I-Tech Education and Publishing.[LINK]

4. Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Dynamic Walk of Humanoids: Momentum Compensation based on the Optimal Pelvic Rotation", Climbing and Walking Robots: Towards New Applications, Houxiang Zhang Eds, ISBN: 978-3-902613-16-5, Chapter 13, pp.283-298, 2007, I-Tech Education and Publishing.[LINK]

1. Jun Ueda, Thomas Secord, Harry Asada, "Static Lumped Parameter Model for Nested PZT Cellular Actuators with Exponential Strain Amplification Mechanisms", the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), accepted.

2. Thomas Secord, Jun Ueda, Harry Asada, "Dynamic Analysis of a High-Bandwidth, Large-Strain, PZT Cellular Muscle Actuator with Layered Strain Amplification", the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), accepted.

3. Ming Ding, Jun Ueda, Tsukasa Ogasawara, "Development of MAS - a system for pin-pointed muscle force control using a power-assisting device", Proceddings of the 2007 IEEE International Conference on Robotics and Biomimetics (Robio2007), December 15-18, Sanya, China, 2007.

4. Masahiro Kondo, Jun Ueda, Tsukasa Ogasawara, "Recognition of In-Hand Manipulation by Observing Contact State Transition for Robot Hand Control", 13th International Symposium of Robotics Research (ISRR 2007).

5. Jun Ueda, Thomas Secord, and H. Harry Asada, "Design of PZT Cellular Actuators with Power-law Strain Amplification", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007), pp. 1160-1165, San Diego, 2007 .

6. Jun Ueda, Lael Odhner, and H. Harry Asada, "Broadcast Feedback of Large-Scale, Distributed Stochastic Control Systems Inspired by Biological Muscle Control", Proceedings of the 2007 American Control Conference (ACC2007), pp. 1317-1322, New York, 2007 .

7. Jun Ueda, Ming Ding, Masayuki Matsugashita, Reishi Oya, Tsukasa Ogasawara "Pinpointed control of muscles by using power-assisting device," Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), pp. 3821-3828, Roma, Italy, April, 2007.

8. Jun Ueda, Lael Odhner, and H. Harry Asada, "Broadcast Feedback for Stochastic Cellular Actuator Systems Consisting of Nonuniform Actuator Units”, Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), pp. 642-647, Roma, Italy, April, 2007.

9. Lael Odhner, Jun Ueda, Harry Asada, "Stochastic Optimal Control Laws for Cellular Artificial Muscles," Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), pp. 1554-1559, Roma, Italy, April, 2007.

10. Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Manipulative Familiarization and Fatigue Evaluation Using Contact State Transition" Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2006), pp. 3767-3772, Beijing, China, 2006.

11. Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Recognition of In-Hand Manipulation along with Rolling Contact using Orbital Motion of Contact Points on Object Surface," Proceedings of the 2006 IEEE International Conference of Multisensor Fusion and Integration for Intelligent Systems (MFI2006), pp. 167-172, Germany, 2006.9.

12. Lael Odhner, Jun Ueda, Harry Asada, "A Cellular Control Architecture for Compliant Artificial Muscles," IEEE 2006 International Conference of the Engineering in Medicine and Biology Society (EMBC 2006), pp. 2730 - 2733, NY, 2006.

13. Jun Ueda, Masayuki Matsugashita, Reishi Oya, Tsukasa Ogasawara, "Control of Muscle Force during Exercise using a Musculoskeletal-Exoskeletal Integrated Human Model, " 10th International Symposium on Experimental Robotics (ISER), Rio de Janeiro, 2006.

14. Lael Odhner, Jun Ueda, Harry Asada, "Broadcast feedback of Stochastic Cellular Actuators," 10th International Symposium on Experimental Robotics (ISER), Rio de Janeiro, 2006.

15. Jun Ueda, Lael Odhner, Harry Asada, " A Broadcast-Probability Approach to the Control of Vast DOF Cellular Actuators," 2006 IEEE International Conference on Robotics and Automation(ICRA 2006), Orlando, Florida (Lake Buena Vista), pp. 1456- 1461, May 15 to May 19, 2006.

16. Jun Ueda, Lael Odhner, Sang-Gook Kim, Harry Asada, "Distributed Stochastic Control of MEMS-PZT Cellular Actuators with Broadcast Feedback," The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006), pp. 272-277, Pisa, Tuscany, Italy, February 20-22, 2006.

17. Jun Ueda, Yutaka Ishida, Tsukasa Ogasawara, Ricardo T. Shichiku, and Takahiko Nakano, "Development of a Compact Pointing Device utilizing Static-Capacity Fingerprint Sensor", Proceedings of the 4th IEEE International Conference on Sensors, Irvine, California, Oct. 31- Nov. 3, 2005.

18. Hiroshi Takemura, Akihiro Matsuyama, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Momentum Compensation for the Dynamic Walk of Humanoids based on the Optimal Pelvic Rotation," 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2005),pp.485-492, London, Sep. 13-15, 2005.

19. Hiroshi Takemura, Masaaki Obayashi, Jun Ueda, Yoshio Matsumoto, Hiroshi Mizoguchi and Tsukasa Ogasawara, "Investigation of the Elastic Contact Model of the Plantar in Human Walking based on the Incipient Slip," Proceedings of 2005 International Technical Conference on Circuits/System, Computers and Communications (ITC-CSCC2005), pp.1175-1176, Korea, July, 2005.

20. Jun Ueda, Yutaka Ishida, Masahiro Kondo, Tsukasa Ogasawara, "Development of the NAIST-Hand with Vision-based Tactile Fingertip Sensor", Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005),pp.2343-2348, Barcelona, Spain, April, 2005.

21. Yuichi Kurita, Kazuyuki Nagata, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "CPG-Based Manipulation: Adaptive Switchings of Grasping Fingers by Joint Angle Feedback.", Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), pp.2528-2533, Barcelona, Spain, April, 2005.

22. Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Evaluation of Manipulative Familiarization and Fatigue Based on Contact State Transition", IEEE World Haptics Conference, pp.102-107, Pisa, Italy, March, 2005.

23. Jun Ueda, Kenji Shirae, Yoshio Matsumoto, Shingo Oda, Tsukasa Ogasawara, "Momentum Compensation for the Fast Dynamic Walk of Humanoids based on the Pelvic Rotation of Contact Sport Athletes", Proceedings of 2004 IEEE/RSJ International Conference on Humanoid Robots (Humanoids 2004), November 10 - 12, Santa Monica, CA, 2004.

24. Jun Ueda, Tsukasa Ogasawara, "Global RAC-Measure for Redundancy Solution of Human-like Manipulator Mounted on Flexible Body", Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp.3930-3935, September 28 - October 2, 2004, Sendai, 2004.

25. Atsutoshi Ikeda, Yuichi Kurita, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Grip Force Control for an Elastic Finger using Vision-based Incipient Slip Feedback", Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp.810-815, September 28 - October 2, 2004, Sendai, 2004.

26. Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Perception of Human Manipulation Based on Contact State Transition", Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), pp.100-105, September 28 - October 2, 2004, Sendai, 2004.

27. Yuichi Kurita, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "CPG-Based Manipulation : Generation of Rhythmic Finger Gaits from Human Observation", Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA 2004), pp.1204-1209, New Orleans, LA, USA, April, 2004.

28. Yuichi Kurita, Atsutoshi Ikeda, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A Novel Pointing Device Utilizing the Deformation of the Fingertip", Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp.13-18, Las Vegas, USA, October, 2003.

29. Norihisa Takahashi, Mitsunori Tada, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "An Optical 6-axis Force Sensor for Brain Function Analysis using fMRI", Proceedings of the IEEE International Conference on Sensors , pp.253-258 ,Tronto, Canada, October, 2003.

30. Hiroshi Takemura, Hiroya Iwama, Abdelaziz Khiat, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Study of the Toes Role in Human Walk by a Toe Elimination and Pressure Measurement System", Proceedings of the IEEE International Conference on Systems, Man & Cybernetics (SMC 2003), pp.2569-2574, Washington, D.C., USA, October, 2003.

31. Jun Ueda, Reishi Oya, Tsukasa Ogasawara, and Tsuneo Yoshikawa, "Solution of Human-like Redundant Manipulator Mounted on Flexible Body for Task-space Feedback Control", Proceedings of the 2003 ASME/IEEE International International Conference on Advanced Intelligent Mechatronics (AIM 2003), pp.1429-1434, Kobe, Japan, July, 2003.

32. Jun Ueda, Tsuneo Yoshikawa, "Mode Shape Compensator for Improving Robustness of Manipulator Mounted on Flexible Base", Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), pp.3011-3016, Taipei, Taiwan, September, 2003.

33. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "The Influence of Friction on Gait and Energy Efficiency of the Walking Robot Based on Rhythmic Control", 2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM 2003), Kyoto, Japan, March 4-8, 2003.

34. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A study of a gait generation of a quadruped robot based on rhythmic control -optimization of CPG parameters by a fast dynamics simulation environment", Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR 2002), pp.759-766, Paris, France, September, 2002.

35. Jun Ueda, Tsuneo Yoshikawa, "Robust Arm Configuration of Manipulator Mounted on Flexible Base", Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), pp.1321-1326, Washington, D.C., USA, May, 2002.

36. Tsuneo Yoshikawa, Jun Ueda, "Task Priority Based Mode Shaping Method for In-phase Design of Flexible Structures Aiming at High Speed and Accurate Positioning", Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001), pp.1806-1812, Seoul, Korea, May, 2001.

37. Jun Ueda, Akihiko Imagi, Hitoshi Tamayama, "Track Following Control of Large Capacity Flexible Disk Drive with Disturbance Observer Using Two Position Sensors", Proceedings of the 1999 ASME/IEEE International Conference on Advanced Intelligent Mechatronics (AIM 99), pp.144-149, Atlanta, USA, September, 1999.

38. Tsuneo Yoshikawa, Jun Ueda, "Analysis and Control of Master-Slave Systems with Time Delay", Proceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 96), pp.1366-1373, Osaka, Japan, November, 1996.

39. Y.Yokokohji, N.Hosotani, J.Ueda and T.Yoshikawa, A Micro Teleoperation System for Compensating Scaling Effects Based on Environment Model, Proc. of 1994 Japan-USA Symp. on Flexible Automation, pp.709-716, 1994.

1. Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Evaluation of Manipulative Familiarization and Fatigue Using Contact State Transition," Transactions of the Japan Society of Mechanical Engineers Vol.72, No.723, Nov. 2006 (in Japanese).

2. Masahiro Kondo, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Recognition of Cylindrical Object Manipulation Based on Contact State Transition" Journal of the Robotics Society of Japan, Vol. 24, No. 2, pp.213-221, 2006.3 (in Japanese).

3. Jun Ueda, Kenji Shirae, Shingo Oda, Tsukasa Ogasawara, "Moment Compensation for Fast Dynamic Walking of Humanoids based on Human Athletes Pelvis Rotation", Journal of the Robotics Society of Japan , Vol. 23, No. 4, pp. 75-83, 2005 (in Japanese).

4. Yuichi Kurita, Kazuyuki Nagata, Jun Ueda, Yoshio Matsumoto, and Tsukasa Ogasawara, "CPG Based Manipulation: Adaptation of the switching cycle of the grasping fingers by the joint angle feedback," Transactions of the Japan Society of Mechanical Engineers, (C), Vol.71, No.705, pp.1654-1660, 2005 (Japanese).

5. Atsutoshi Ikeda, Yuichi Kurita, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara,"Grip Force Control of the Elastic Body based on Contact Surface Eccentricity during the Incipient Slip", Journal of the Robotics Society of Japan , Vol. 23, No. 3, pp. 65-710, 2005 (in Japanese).

6. Hiroshi Takemura, Masato Deguchi, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Slip-adaptive Walk of Quadruped Robot Based on Force Control Utilizing Acceleration Signals of the Legs", Journal of the Robotics Society of Japan , Vol. 23, No. 1, pp. 124-130, 2005 (in Japanese).

7. Yuichi Kurita, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "CPG Based Manipulation: Measurement of Human's Rhythmic Finger Gaits", Transactions of the Japan Society of Mechanical Engineers, (C), Vol. 70, No. 699, pp.3220-3226, 2004 (in Japanese).

8. Atsutoshi Ikeda, Yuichi Kurita, Jun Ueda, Tsukasa Ogasawara, "Development of a Compact Pointing Device Utilizing the Fingerprint Deformation during the Incipient Slip", Transactions of Information Processing Society of Japan, Vol. 45, No. 7, pp. 1769-1778, 2004. (in Japanese).

9. Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "Three Dimentional Adaptive Walking of Quadruped Robot using Sideways Sway Motion and Posture Reflex via Neural Oscillators" Journal of the Robotics Society of Japan , Vol. 22, No. 4, pp.528-534, 2004 (in Japanese)

10. Norihisa Takahashi, Mitsunori Tada, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "An Optical 6-Axis Force Sensor for Brain Function Analysis using fMRI",Transactions of the Japan Society of Mechanical Engineers, (C), Vol. 70, No. 691, pp.743-750, 2004 (in Japanese).

11. Hiroya Iwaya, Hiroshi Takemura, Jun Ueda, Yoshio Matsumoto, Tsukasa Ogasawara, "A Study of the Toe Function for Human Walking by the Existence of a Toe Using a Toe Pressure Measurement System", Transactions of the Japan Society of Mechanical Engineers (C), Vol.70, No.689, pp.212-220, 2004 (in Japanese).

12. Jun Ueda, Tsuneo Yoshikawa, "Mode Shape Compensator for Improving Robustness of Manipulator Mounted on Flexible Base", Journal of the Robotics Society of Japan , Vol. 21, No. 4, pp.305-400, 2003 (in Japanese).

13. Jun Ueda, Tsuneo Yoshikawa, "Robust Arm Configuration of Manipulator Mounted on Flexible Base", Journal of the Robotics Society of Japan , Vol. 20, No. 5, pp.537-542, 2002(in Japanese).

14. Jun Ueda, Tsuneo Yoshikawa, "Task Priority Based Mode Shaping Method for In-phase Design of Flexible Structures Aiming at High Speed and Accurate Positioning", Transactions of the Japan Society of Mechanical Engineers , (C), No. 68, Vol. 665, pp.60-67, 2002 (in Japanese).

15. Jun Ueda, Akihiko Imagi, Hitoshi Tamayama, "Track Following Control for Large Capacity Flexible Disk Drive: Disturbance Observer Design Using Two Position Sensors", Transactions of the Japan Society of Mechanical Engineers, (C), No. 67, Vol. 655, pp.751-758, 2001 (in Japanese).

16. Tsuneo Yoshikawa, Jun Ueda, "Analysis and Control of Master-Slave Systems with Time Delay", Transactions of the Japan Society of Mechanical Engineers, (C), No. 62, Vol. 602, pp.72-79, 1996 (in Japanese).

Ph.D Thesis

"Design and Control of Stable and High-performance Mechatronic Systems", Kyoto University, 2001(abstract)