●2019
・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, Satoshi Tadokoro Ed., Springer Tracts in Advanced Robotics 128, pp. 327-397, DOI: 10.1007/978-3-030-05321-5_7, 2019.
●2022
・Xiao Sun, Hiroshi Naito, Akio Namiki, Yang Liu, Takashi Matsuzawa and Atsuo Takanishi, “Assist system for remote manipulation of electric drills by the robot “WAREC-1R” using deep reinforcement learning”, Robotica, Vol. 40, No. 2, pp. 365-376, 2022.
●2021
・Xiao Sun, Kenji Hashimoto, Shota Hayashi, Masahiro Okawara, Takashi Mastuzawa and Atsuo Takanishi, “Stable Vertical Ladder Climbing with Rung Recognition for a Four-limbed Robot,” Journal of Bionic Engineering, Vol. 18, pp. 786?798, 2021.
●2020
・Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura and Atsuo Takanishi, “Crawling and Foot Trajectory Modification Control for Legged Robot on Uneven Terrain,” International Journal of Mechatronics and Automation, Vol. 7, No. 1, pp.1-10, 2020.
・Martim Brandao, Rui Figueiredo, Kazuki Takagi, Alexandre Bernardino, Kenji Hashimoto and Atsuo Takanishi, “Placing and scheduling many depth sensors for wide coverage and efficient mapping in versatile legged robots,” International Journal of Robotics Research, Vol. 39, No. 4, pp. 431-460, 2020.
●2018
・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”, “DICTA 2018 : Digital Image Computing: Techniques and Applications”, Camberra, Australia, December, 2018.
・Xiao Sun, Shota 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"”, IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pp.40-46, Beijing, China, November, 2018.
・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.
・W. X. Tan, M. Brandao, K. Hashimoto, and A. Takanishi, “Trajectory optimization for high-power robots with motor temperature constraints”, “19th Towards Autonomous Robotic Systems (TAROS) Conference”, pp.3-14, Bristol, England, July, 2018.
・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”, “22nd CISM IFToMM Symposium on Robot Design, Dynamics and Control”, pp.280-287, Rennes, France, June, 2018.
●2017
・Martim Brandao, Kenji Hashimoto, Atsuo Takanishi, “Maximize-perturb-minimize: a fast and effective heuristic to obtain sets of locally optimal robot postures”, “ROBIO2017”, pp.2624-2629, Macau, China, December, 2017.
・Martim Brandao, Kenji Hashimoto, Atsuo Takanishi, “SGD for robot motion? The effectiveness of stochastic optimization on a new benchmark for biped locomotion tasks”, Humanoids2017”, Birmingham, UK, November, 2017.
・Takashi Matsuzawa, Kenji Hashimoto, Xiao Sun, Tomotaka Teramachi, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Aasaki Imai, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi, Wei Xin Tan and Atsuo Takanishi, "Crawling Gait Generation Method for Four-limbed Robot Based on Normalized Energy Stability Margin", Proceedings of The 15th IEEE International Symposium on Safety, Security, and Rescue Robotics 2017 (SSRR 2017), pp. 223-229, Shanghai, China, October, 2017.
・Kenji Hashimoto, Shunsuke Kimura, Nobuaki Sakai, Shinya Hamamoto, Ayanori Koizumi, Xiao Sun, Takashi Matsuzawa, Tomotaka Teramachi, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Takanobu Matsubara, Koki Yamaguchi, Gan Ma and Atsuo Takanishi, "WAREC-1 - A Four-Limbed Robot Having High Locomotion Ability with Versatility in Locomotion Styles", Proceedings of The 15th IEEE International Symposium on Safety, Security, and Rescue Robotics 2017 (SSRR 2017), pp. 172-178, Shanghai, China, October, 2017.
・Xiao Sun, Kenji Hashimoto, Tomotaka Teramachi, Takashi Matsuzawa, Shunsuke Kimura, Nobuaki Sakai, Syota Hayashi, Yuki Yoshida and Atsuo Takanishi, “Planning and Control of Stable Ladder Climbing Motion for the Four-limbed Robot ‘WAREC-1’,” Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), pp. 6547–6554, Vancouver, Canada, September, 2017.
・Kenji Hashimoto, Takashi Matsuzawa,Tomotaka Teramachi, Kazuhito Uryu, Xiao Sun, Shinya Hamamoto, Ayanori Koizumi and Atsuo Takanishi, “A Four-Limbed Disaster-Response Robot Having High Mobility Capabilities in Extreme Environments,” Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), pp. 5398–5405, Vancouver, Canada, September, 2017.
・Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Nobuaki Sakai, Shunsuke Kimura and Atsuo Takanishi, “Crawling Motion and Foot Trajectory Modification Control for Legged Robot on Rough Terrain,” Proceedings of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA 2017), pp. 1976–1982, Takamatsu, Japan, August, 2017.
●2016
・Takashi Matsuzawa, Ayanori Koizumi, Kenji Hashimoto, Xiao Sun, Shinya Hamamoto, Tomotaka Teramachi, Shunsuke Kimura, Nobuaki Sakai and Atsuo Takanishi, “Crawling Gait for Four-limbed Robot and Simulation on Uneven Terrain,” Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp. 1270–1275, Cancun, Mexico, November, 2016.
・Martim Brandão, Kenji Hashimoto and Atsuo Takanishi, “Friction from Vision: A Study of Algorithmic and Human Performance with Consequences for Robot Perception and Teleoperation,” Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp. 428–435, Cancun, Mexico, November, 2016.
・Martim Brandão, Yukitoshi Minami Shiguematsu, Kenji Hashimoto and Atsuo Takanishi, “Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain,” Proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2016), pp. 81–88, Cancun, Mexico, November, 2016.
・Xiao Sun, Kenji Hashimoto, Shinya Hamamoto, Ayanori Koizumi, Takashi Matsuzawa, Tomotaka Teramachi and Atsuo Takanishi, “Trajectory Generation for Ladder Climbing Motion with Separated Path and Time Planning,” Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), pp. 5782–5788, Daejeon, Korea, October, 2016.
・Xiao Sun, Kenji Hashimoto, Ayanori Koizumi, Shinya Hamamoto, Takashi Matsuzawa, Tomotaka Teramachi and Atsuo Takanishi, “Path-Time Independent Trajectory Planning of Ladder Climbing with Shortest Path Length for a Four-Limbed Robot,” Proceedings of the 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016), pp. 188–194, Singapore, June, 2016.
・Takashi Matsuzawa, Kenji Hashimoto, Shinya Hamamoto, Tomotaka Teramachi, Xiao Sun, Kazuhito Uryu, Ayanori Koizumi and Atsuo Takanishi, “End-effector for Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder,” Proceedings of the 21st CISM IFToMM Symposium on Robot Design, Dynamics and Control (RoManSy 2016), pp. 311–319, Udine, Italy, June, 2016.
●2015
・Xiao Sun, Kenji Hashimoto, Ayanori Koizumi, Shinya Hamamoto, Takashi Matsuzawa, Tomotaka Teramachi and Atsuo Takanishi, “Event-based climbing motion planning for a quadruped robot,” the 6th International Conference on Advanced Mechatronics (ICAM 2015), pp. 78–79, Tokyo, Japan, December, 2015.
・Takashi Matsuzawa, Kenji Hashimoto, Xiao Sun, Kazuhiro Uryu, Ayanori Koizumi, Shinya Hamamoto, Tomotaka Teramachi and Atsuo Takanishi, “Development of Disaster Response Robot with Commonly Structured Limbs and Experiment in Climbing Vertical Ladder,” the 6th International Conference on Advanced Mechatronics (ICAM 2015), pp. 142–143, Tokyo, Japan, December, 2015.
In the research of academic year 2015～2018, this research is conducted by Research Institute for Science and Engineering, Humanoid Research Institute and Future Robotics Organization of Waseda University. It is commissioned by the project "Tough Robotics Challenge" of Impulsing Paradigm Change through Disruptive Technology Program (ImPACT) that is initiated by Council for Science, Technology and Innovation via Japan Science and Technology Agency (JST).
In the research of academic year 2014, this research was conducted as a collaborative research between the Humanoid Robotics Institute (HRI), Waseda University and Mitsubishi Heavy Industries, Ltd (main supporter).
3DCAD in this research is provided by SolidWorks Japan K. K, cables and connectors are provided by DYDEN CORPORATION and the crane used in experiment is provided by KITO CORPORATION. We would like to express our thanks to all of them.