| DATE | AUTHOR | TITLE | PUBLICATION | PAGES | GROUP |
| Sep-13 | 吉田 圭佑，柏倉 淳平，ピーターゼン クラウス，ソリス ホルヘ，ゼッカ マッシミリアーノ，高西 淳夫 | 人間形サキソフォン演奏ロボットの開発 ―可動腰部の設計・製作― |
第31回日本ロボット学会学術講演会 | 1E1-5 | フルート |
| Sep-12 | 齋藤 穣，草野 崇文，柏倉 淳平，ソリス ホルヘ，ピーターゼン クラウス，マッシミリアーノ ゼッカ，高西 淳夫 | 人間形サキソフォン演奏ロボットの開発 ―新型空気圧回路の設計と視覚機構の設計・製作― |
第30回日本ロボット学会学術講演会 | 4K1-8 | フルート |
| Sep-11 | 小澤 研一郎，椙田 宜久，ピーターゼン クラウス，ソリス ホルヘ，高西 淳夫 | 人間形フルート演奏ロボットの開発 ―新型口唇・口腔の設計・製作― |
第29回日本ロボット学会学術講演会 | 2J1-6 | フルート |
| Sep-11 | 柏倉 淳平，草野 崇文，石川 慎平，ピーターゼン クラウス，ソリス ホルヘ,ゼッカ マッシミリアーノ，高西 淳夫 |
人間形サキソフォン演奏ロボットの開発 ―新型口腔部および新型ハンドの設計・製作― |
第29回日本ロボット学会学術講演会 | 2J1-5 | フルート |
| Oct-10 | Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K. | Implementation of an Overblowing Correction Controller and the Proposal of a Quantitative Assessment of the Sound’s Pitch for the Anthropomorphic Saxophonist Robot WAS-2 | The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010) | pp. 1943-1948 | Flute Playing Robot |
| Oct-10 | Petersen, K., Solis. J., Takanishi, A. | Implementation of a Musical Performance Interaction System for the Waseda Flutist Robot: Combining Visual and Acoustic Sensor Input based on Sequential Bayesian Filterings | The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010) | pp. 2283-2288 | Flute Playing Robot |
| Nov-10 | Solis, J., Takanishi, A. | Project-Based Learning Implementation and Development of Educational Robots at Waseda University, | SIMPAR2010 Workshop on Teaching Robotics, Teaching with Robotics | pp.401-410 | Flute Playing Robot |
| Sep-10 | Solis J., Petersen, K., Yamamoto, T., Takeuchi, M., Ishikawa, S., Takanishi, A., Hashimoto, K. | Imitating the Saxophone Playing by the Anthropomorphic Saxophonist Robot | The 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010) | pp.270-275 | Flute Playing Robot |
| Sep-10 | Solis, J., Takanishi, A. | Toward Understanding the Nature of Musical Performance and Interaction with Wind Instrument-Playing Humanoids | The 19th IEEE International Symposium in Robot and Human Interactive Communication (Ro-Man 2010) | pp.772-777 | Flute Playing Robot |
| 2010 | Solis, J., Takeshi, N., Petersen, K., Takeuchi, M., Takanishi, A. | Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure | Advanced Robotics Journal | 24 | Flute Playing Robot |
| 2010 | Petersen, K., Solis, J., Takanishi, A. | Musical-Based Interaction System for the Waseda Flutist Robot: Implementation of the Visual Tracking Interaction Module | Autonomous Robotics Journal | 28(4) | Flute Playing Robot |
| Dec-09 | J. Solis, K. Taniguchi, T. Ninomiya, K. Petersen, T. Yamamoto, A. Takanishi | Implementation of an Auditory Feedback Control System on an Antropomorphic Flutist Robot Inspired on the Performance of a Professional Flutist | Advanced Robotics Journal | Vol. 23, pp. 1849-1871 | Flute Playing Robot |
| Dec-09 | J. Solis, N. Takeshi, K. Petersen, M. Takeuchi, A. Takanishi | Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Simulated Organs and Implementation of Air Pressure | Advanced Robotics Journal | Vol. 23, pp. 1849-1871 | Flute Playing Robot |
| Oct-09 | Solis J., Petersen K., Ninomiya T., Takeuchi M., Takanishi A. | Development of Anthropomorphic Musical Performance Robots: From Understanding the Nature of Music Performance to Its Application in Entertainment Robotics | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems | pp. 2309-2314 | Flute Playing Robot |
| Oct-09 | Petersen K., Solis J., Takanishi. A | Development of a Aural Real-Time Rhythmical and Harmonic Tracking to Enable the Musical Interaction with the Waseda Flutist Robot | 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems | pp. 2303-2308 | Flute Playing Robot |
| Oct-09 | Solis, J., Takanishi, A. | Understanding the mechanisms of the human motor control by imitating saxophone playing with the Waseda Saxophonist Robot WAS-1 | IROS 2009 Workshop on Biologically-Inspired Robotics | pp. 49-54 | Flute Playing Robot |
| Aug-09 | Solis, J., Takanishi, A. | Development of the Waseda Flutist Robot | First International Conference on Smart IT Applications | ID40 | Flute Playing Robot |
| Jun-09 | Solis, J., Ninomiya, T., Petersen, K., Yamamoto, T. | Anthropomorphic Musical Performance Robots at Waseda University: Increasing Understanding of the Nature of Human Musical Interaction | 9th International Conference New Interfaces for Musical Expression | pp. 64-69 | Flute Playing Robot |
| May-09 | Petersen K., Solis J., Ninomiya T., Yamamoto T., Takeuchi M, Takanishi A. | Development of the Anthropomorphic Saxophonist Robot WAS-1: Mechanical Design of the Lip, Tonguing, Fingers and Air Pump Mechanisms | International Conference on Robotics and Automation | pp. 3043-3048 | Flute Playing Robot |
| Oct-08 | J. Solis, K. Taniguchi, T. Ninomiya, T. Yamamoto, A. Takanishi | Understanding the mechanisms of the human motor control by imitating flute playing with the Waseda Flutist Robot WF-4RIV | Mechanism and Machine Theory (Special Issue on Bio-Inspired Mechanism Engineering) | Vol. 44 (3), pp. 527-540 | Flute Playing Robot |
| Oct-08 | Solis, J., Taniguchi, K., Nimomiya, T., Petersen, K., Yamamoto, T., Takanishi, A. | The Waseda Flutist Robot No.4 Refined IV: From a Musical Partner to a Musical Teaching Tool | IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics | pp. 427-432 | Flute Playing Robot |
| Oct-08 | Petersen, K., Solis, J., Takanishi, A. | Development of the Waseda Flutist Robot No. 4 Refined IV: Implementation of a Real-Time Interaction System with Human Partners | IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics | pp. 421-426 | Flute Playing Robot |
| Sep-08 | Solis, J., Takanishi, A. | Can an anthropomorphic flutist robot display musical skills? | International Conference on Intelligent Robots and Systems, Workshop on Art and Robots | pp. 13-18 | Flute Playing Robot |
| Sep-08 | Petersen, K., Solis, J., Takanishi, A. | Development of a Real-Time Instrument Tracking System for Enabling the Musical Interaction with the WF-4RIV | IEEE/RSJ International Conference on Intelligent Robots and Systems | pp. 313-318 | Flute Playing Robot |
| Aug-08 | Petersen, K., Solis, J., Takanishi, A. | Development of a real-time gestural interface for hands-free musical perforamnce control | International Computer Music Conference | pp. 356-359 | Flute Playing Robot |
| Aug-08 | Solis J., Takanishi A. | Approaches to Enable Autonomous Systems to Perceptually Detect Human Performance Improvements and their Applications | IEEE Conference on Automation Science and Engineering | pp. 259-264 | Flute Playing Robot |
| Aug-08 | Solis, J., Taniguchi, K., Ninomiya, T., Petersen, K., Yamamoto, T., Takanishi, A. | Improved Musical Performance Control of WF-4RIV: Implementation of an expressive music generator and an automated sound quality detection | 17th International Symposium on Robot and Human Interactive Communication | pp. 334-339 | Flute Playing Robot |
| Aug-08 | Petersen, K., Solis, J., Takanishi, A. | Towards enabling a natural interaction between human musicians and musical performance robots: Implementation of a real-time gestural interface | 17th International Symposium on Robot and Human Interactive Communication | pp. 340- 345 | Flute Playing Robot |
| Jul-08 | Solis, J., Taniguchi, K., Ninomiya, T., Yamamoto, T., Takanishi, A. | The Mechanical Improvements of the Waseda Flutist Robot and the Implementation of an Auditory Feedback Control System | 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control | pp. 217-224 | Flute Playing Robot |
| Jun-08 | Solis J., Takanishi, A. | Introducing a novel musical teaching automated tool to transfer technical skills from an anthropomorphic flutist robot to flutist beginners | 8th International Conference New Interfaces for Musical Expression | pp. 53-60 | Flute Playing Robot |
| May-08 | Solis, J., Taniguchi, K., Ninomiya, T., Yamamoto, T., Takanishi, A. | Development of Waseda Flutist Robot WF-4RIV: Implementation of auditory feedback system | International Conference on Robotics and Automation | pp. 3654-3659 | Flute Playing Robot |
| Oct-07 | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Tetsuro Yamamoto, Atsuo Takanishi | The Waseda Flutist Robot No.4 Refined IV: Enhancing the sound clarity and the articulation between notes by improving the lips and tonguing mechanisms | in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems | pp. 2041-2046 | Flute Playing Robot |
| Oct-07 | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Tetsuro Yamamoto, Akiko Sato, Atsuo Takanishi | Musical Skills of the Waseda Flutist Robot WF-4RIV | in Proc of the IEEE/RSJ International Conference on Intelligent Robots and Systems | pp. 2570-2571 | Flute Playing Robot |
| Aug-07 | Jorge Solis, Atsuo Takanishi | An overview of the research approaches on Musical Performance Robots | International Conference on Computer Music | pp. 356-359 | Flute Playing Robot |
| Aug-07 | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Atsuo Takanishi | Towards an expressive performance of the Waseda Flutist Robot: Production of Vibrato | in Proc. 16th IEEE International Symposium on Robot & Human Interactive Communication | pp. 780-785 | Flute Playing Robot |
| Apr-07 | Jorge Solis, Kei Suefuji, Koichi Taniguchi, Takeshi Ninomiya, Maiko Maeda, Atsuo Takanishi | Implementation of Expressive Performance Rules on the WF-4RIII by modeling a professional flutist performance using NN | in Proc. of the International Conference on Robotics and Automation | pp. 2552-2557 | Flute Playing Robot |
| Nov-06 | Solis J., Chida K., Suefuji K., Taniguchi K., Hashimoto S.M., Takanishi A. | The Waseda Flutist Robot WF-4RII in Comparison with a Professional Flutist | In the Computer Music Journal. | Vol. 30(4), pp. 12-24 | Flute Playing Robot |
| Oct-06 | Solis J., Suefuji K., Taniguchi K., Takanishi A. | Towards an autonomous musical teaching system from the Waseda Flutist Robot to Flutist Beginners | In the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop: Musical Performance Robots and Its Applications. | pp. 24-29 | Flute Playing Robot |
| Jun-06 | Solis J., Suefuji K., Chida K., Taniguchi K., Takanishi A. | The mechanical improvements of the anthropomorphic flutist robot WF-4RII to increase the sound clarity and to enhance the interactivity with humans | In Proc. of the 16th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control. | pp. 247-254 | Flute Playing Robot |
| May-06 | Solis J., Suefuji K., Chida K., Taniguchi K., Takanishi A. | The interaction of the Waseda Flutist Robot with humans and its applications | In DVD Proc. of the IEEE International Conference on Robotics and Automation. | 230007 | Flute Playing Robot |
| Feb-06 | Solis J., Suefuji K., Takanishi A. | The Waseda Flutist Robot: from a musical partner to a musical tutor | In Journal of the Society of Biomechanisms. | Vol. 30(1), pp. 23-27 | Flute Playing Robot |
| Feb-06 | Solis J., Suefuji K., Chida K., Taniguchi K., Takanishi A. | Imitating the human flute playing by the WF-4RII: Mechanical, perceptual and performance control systems | In Proc. of the 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. | pp.1024-1029 | Flute Playing Robot |
| Jun-06 | Solis J., Chida K., Suefuji K., Takanishi A. | The Development of the anthropomorphic flutist robot at Waseda University. | In the International Journal of Humanoid Robots (IJHR). | Vol. 30(2), pp. 127-151 | Flute Playing Robot |
| Sep-05 | Solis J., Chida K., Suefuji K., Takanishi A. | Towards an automated teaching system: automatic recognition of musical melodies using the WF-4R | International Computer Music Conference. | pp.423-426 | Flute Playing Robot |
| Aug-05 | Solis J., Chida K., Suefuji K., Takanishi, A. | Improvements of the auditive perceptual process of the anthropomorphic flutist robot to effectively interact with humans | 14th IEEE International Workshop on Robot and Human Interactive Communication | pp.450-455 | Flute Playing Robot |
| Aug-05 | Solis J., Chida K., Suefuji K., Takanishi A. | The anthropomorphic flutist robot WF-4R: from mechanical to perceptual improvements | IEEE International Conference on Intelligent Robots and Systems. | pp.1929-1934 | Flute Playing Robot |
| Nov-04 | J. Solis, M. Bergamasco, S. Isoda ,K. Chida, A. Takanishi | Learning to play the flute with an anthropomorphic robot | Proceedings of the International Computer Music Conference | pp.635-640 | Flute Playing Robot |
| Sep-04 | Jorge Solis, Massimo Bergamasco, Keisuke Chida, Shuzo Isoda, Atsuo Takanishi | Evaluating the Sound Quality Beginner Players by an Anthropomorphic Flutist Robot(WF-4) | Proceedings of the 2004 IEEE/RSJ Intl.Conference on Intelligent Robot and Systems | pp.1568-1573 | Flute Playing Robot |
| May-04 | Keisuke Chida, Isamu Okuma, Shuzo Isoda, Yukako Saisu,Kunimitsu Wakamatsu, Kazufumi Nishikawa, Jorge Solis, Hideaki Takanobu, Atsuo Takanishi | Development of a New Anthropomorphic Flutist Robot WF-4 | Proceedings of the 2004 IEEE International Conference on Robotics & Automation | pp.152-157 | Flute Playing Robot |
| May-04 | Jorge Solis, Massimo Bergamasco, Keisuke Chida, Shuzo Isoda, Atsuo Takanishi | The Anthropomorphic Flutost Robot WF-4 Teaching Flute Playing to Beginner Students | Proceedings of the 2004 IEEE International Conference on Robotics & Automation | pp.146-151 | Flute Playing Robot |
| Sep-03 | Shuzo Isoda, Manabu Maeda, Yuji Hiramatsu, Yu Ogura, Hideaki Takanobu, Atsuo Takanishi and Kunimitsu Wakamatsu | Realization of an Autonomous Search for Sound Blowing Parameters | Proceedings of the 2003 IEEE International Conference on Robotics & Automation | pp.3582-3587 | Flute Playing Robot |
| Oct-98 | Atsuo Takanishi, Manabu Maeda | Development of Anthropomophic Flutist Robot WF-3RIV | Proceedings of the 1998 International Computer Music Conference | pp.328-331 | Flute Playing Robot |
| 96 | Atsuo Takanishi, Mituharu Sonehara, Hayato Kondo | Development of an Anthropomorphic Flutist Robot WF-3RII | IROS'96 IEEE/RSJ | pp.37-43 | Flute Playing Robot |