Shinichi Hirai

255 papers A* 60A 40B 3C 4Journal 54Unranked 92

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Robotic Fruits with Tunable Stiffness and Sensing: Towards a Methodology for Developing Realistic Physical Twins of Fruits. CoRR Saitarun Nadipineni, Keshav Pandiyan, Kaspar Althoefer, Shinichi Hirai, Thilina Dulantha Lalitharatne
2025	—	`conf`	A Snap Mechanism Imitating the Thoracic Joint of a Click Beetle. RCAR Kanta Yamauchi, Takahiro Matsuno, Ryuma Niiyama, Shinichi Hirai
2025	J	`jnl`	Current state and future perspectives on robotic technology for improving efficiency of nursing care. Adv. Robotics Tetsuyou Watanabe, Jane Li, Maya Grace Torii, Yuka Miura, Misako Dai, Gojiro Nakagami, Shinichi Hirai
2025	—	`conf`	Demolding-Free Casting for Fabricating Inflatable Soft-Rigid Structures. RoboSoft Hiroki Aoyama, Zhongkui Wang, Shinichi Hirai
2025	J	`jnl`	Food samples with built-in sensors for evaluating robot grippers that can estimate the success or failure of pick-and-place. Adv. Robotics Takahiro Matsuno, Shinichi Hirai
2025	—	`conf`	Modeling of Food Shapes with Variations Based on Spherical Harmonics for Food Manipulation Experiments. RCAR Sota Katsuno, Zhongkui Wang, Shinichi Hirai
2025	J	`jnl`	Probing simulator capable of independently measuring probing force and resting force. Adv. Robotics Takahiro Matsuno, Atsushi Mitani, Shinichi Hirai
2025	J	`jnl`	ROS2-based robot system with quantitative granular food handling using a regression coefficient estimation-based deep learning model. Adv. Robotics Yoshiki Mori, Hiroki Fukada, Emika Kameda, Taichi Matsuo, Wenjie Shen, Tadashi Matsuo, Zhongkui Wang, Shinichi Hirai, Hisako Masuoka, Chiharu Sugimoto, Nobutaka Shimada
2025	J	`jnl`	Special Issue on Technology for Food Handling Automation. Adv. Robotics Kazuyoshi Wada, Shinichi Hirai, Kensuke Harada, Máximo A. Roa, Pablo Valdivia y Alvarado
2025	J	`jnl`	Special issue on nursing robotics (Part I). Adv. Robotics Tetsuyou Watanabe, Jane Li, Gojiro Nakagami, Misako Dai, Yuka Miura, Maya Torii, Thrishantha Nanayakkara, Shinichi Hirai
2025	J	`jnl`	Special issue on nursing robotics (Part II). Adv. Robotics Tetsuyou Watanabe, Jane Li, Gojiro Nakagami, Misako Dai, Yuka Miura, Maya Torii, Thrishantha Nanayakkara, Shinichi Hirai
2024	—	`conf`	A Synthetic Dataset for Robotic Food Handling System. SII Yitong Xue, Zhe Qiu, Huayan Zhang, Zhongkui Wang, Shinichi Hirai
2024	—	`conf`	An Empirical Model of Soft Bellows Actuator. SII Shengyang Zhang, Yoshiki Mori, Zhe Qiu, Zhongkui Wang, Shinichi Hirai
2024	—	`conf`	Fabric Manipulation by Pulling-Driven Soft Hand with Closing-Approaching Coupling. SII Kenta Hanamura, Zhongkui Wang, Shinichi Hirai
2024	—	`conf`	Fiber- Reinforced Membrane Modeling Based on Constant Edge-Length Constraints. SII Yuki Mimori, Zhongkui Wang, Shinichi Hirai
2024	—	`conf`	Gluing-Free Soft Robotic Hands for Cake Topping. SII Takahiri Matsuno, Zhongkui Wang, Shinichi Hirai
2024	J	`jnl`	On-Demand Branching Mechanism Using Heat Cutting for Soft Inflatable Growing Robot. IEEE Robotics Autom. Lett. Yuki Satake, Hiroyuki Ishii, Shinichi Hirai
2024	—	`conf`	Origami-Based Robotic Gripper for Transporting Solids with Liquids. SII Issei Nate, Zhongkui Wang, Shinichi Hirai
2024	A	`conf`	Passive Underwater Robot Hand Utilizing Water Resistance. IROS Issei Nate, Shinichi Hirai
2023	—	`conf`	A Soft Gripper for Automating Split Operation of Silkworm. RoboSoft Oki Morikage, Zhongkui Wang, Shinichi Hirai, Akira Nonaka
2023	A*	`conf`	Passive robotic gripper using a contact-based locking mechanism. ICRA Issei Nate, Zhongkui Wang, Shinichi Hirai
2023	—	`conf`	Uncertainty-Aware Quantitative Grasping Control of Granular Foodstuff Based on a Deep Model that Outputs Regression Coefficients. IWIS Hiroki Fukada, Tadashi Matsuo, Nobutaka Shimada, Honda Atsushi, Ryuichi Yoshiura, Zhongkui Wang, Shinichi Hirai
2022	—	`conf`	A ROS 2 Based Robotic System to Pick-and-Place Granular Food Materials. ROBIO Hannibal Paul, Zhe Qiu, Zhongkui Wang, Shinichi Hirai, Sadao Kawamura
2022	J	`jnl`	Analysis of Soft Contact in Force Sensing and Elastic Jumping. J. Robotics Mechatronics Takahiro Matsuno, Shinichi Hirai
2022	J	`jnl`	Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper. IEEE Robotics Autom. Lett. Sachin Sachin, Zhongkui Wang, Takahiro Matsuno, Shinichi Hirai
2022	J	`jnl`	Analytical Modeling of a Soft Pneu-Net Actuator Subjected to Planar Tip Contact. IEEE Trans. Robotics Sachin Sachin, Zhongkui Wang, Shinichi Hirai
2022	—	`conf`	Grasping State and Object Estimation of a Flat Shell Gripper by Strain and Proximity Measurement using a Single Capacitance-Based Sensor. RoboSoft Takahiro Matsuno, Rikuya Miyagoshi, Keita Shimizu, Mana Ishihara, Shuya Watanabe, Jun Shintake, Kaspar Althoefer, Shinichi Hirai
2022	—	`conf`	Jellyfish Grasping and Transportation with a Wire-Driven Gripper and Deep Learning Based Recognition. AIM Issei Nate, Zhongkui Wang, Masanari Kameoka, Yosuke Watanabe, Shiblee MD. Nahin Islam, Masaru Kawakami, Hidemitsu Furukawa, Shinichi Hirai
2022	—	`conf`	Shell Gripper Inspired by Human Finger Structure for Automatically Packaging Agricultural Product. Humanoids Hiroki Aoyama, Zhongkui Wang, Shinichi Hirai
2021	J	`jnl`	A Scooping-Binding Robotic Gripper for Handling Various Food Products. Frontiers Robotics AI Zhongkui Wang, Haruki Furuta, Shinichi Hirai, Sadao Kawamura
2021	J	`jnl`	A Soft Needle Gripper Capable of Grasping and Piercing for Handling Food Materials. J. Robotics Mechatronics Zhongkui Wang, Yui Makiyama, Shinichi Hirai
2021	A	`conf`	Analytical Modeling of a Soft Pneu-net Actuator Based on Finite Strain Beam Theory. IROS Sachin Sachin, Zhongkui Wang, Shinichi Hirai
2021	J	`jnl`	Challenges and Opportunities in Robotic Food Handling: A Review. Frontiers Robotics AI Zhongkui Wang, Shinichi Hirai, Sadao Kawamura
2021	J	`jnl`	Comparative Study of Robotics Curricula. IEEE Trans. Educ. Mizuho Shibata, Kosei Demura, Shinichi Hirai, Akihiro Matsumoto
2021	J	`jnl`	Measurement algorithm for oral care simulator using a single force sensor. Adv. Robotics Takahiro Matsuno, Takehiro Yabushita, Atsushi Mitani, Shinichi Hirai
2021	—	`conf`	Multi-Fingered Soft Gripper Driven by Bellows Actuator for Handling Food Materials. M2VIP Oki Morikage, Zhongkui Wang, Shinichi Hirai
2021	J	`jnl`	Reducing the Influence of the Contact Area on a Soft Capacitive Force Sensor. IEEE Robotics Autom. Lett. Takahiro Matsuno, Shinichi Hirai
2021	—	`conf`	Stiffness Control of Variable Stiffness Link Using a Conductive Fabric Based Proximity Sensor. SII Mana Ishihara, Takahiro Matsuno, Kaspar Althoefer, Shinichi Hirai
2020	—	`conf`	3D Printing an Assembled Biomimetic Robotic Finger. UR Maryam Tebyani, Ash Robbins, William Asper, Sri Kurniawan, Mircea Teodorescu, Zhongkui Wang, Shinichi Hirai
2020	—	`conf`	A Pneumatic Needle Gripper for Handling Shredded Food Products. RCAR Yui Makiyama, Zhongkui Wang, Shinichi Hirai
2020	J	`jnl`	A dual-mode soft gripper for food packaging. Robotics Auton. Syst. Zhongkui Wang, Keung Or, Shinichi Hirai
2020	—	`conf`	Deformed Shape Estimation of an Asymmetric Conductive Pattern Printed Plate without using Resistance Model. RCAR Takahiro Matsuno, Shinichi Hirai
2020	—	`conf`	Easily Fabricatable Shell Gripper for Packaging Multiple Cucumbers Simultaneously. RCAR Ryo Kanegae, Zhongkui Wang, Shinichi Hirai
2020	—	`conf`	Failure State Estimation Using Soft Tactile Fingertip in Insertion Tasks. AIM Muhammad Hisyam Rosle, Koji Shiratsuchi, Shinichi Hirai
2020	—	`conf`	Novel Quick Return Mechanism and Dish Shape Deformable Body Structure for Circular Jumping Robot. RCAR Takahiro Matsuno, Tatsuro Katsuma, Zhongkui Wang, Shinichi Hirai
2020	—	`conf`	Optimization of the Initial Deformed Shape of a Circular Elastic Jumping Robot. RoboSoft Takahiro Matsuno, Shinichi Hirai
2020	J	`jnl`	Soft Tactile Fingertip to Estimate Orientation and the Contact State of Thin Rectangular Objects. IEEE Robotics Autom. Lett. Muhammad Hisyam Rosle, Ryo Kojima, Keung Or, Zhongkui Wang, Shinichi Hirai
2019	—	`conf`	A Novel Binding Hand with Closed Loop Thread Capable of Grasping Small-Diameter Objects. RoboSoft Yuki Mimori, Zhongkui Wang, Shinichi Hirai
2019	—	`conf`	A Wrapping Gripper for Packaging Chopped and Granular Food Materials. RoboSoft Yoshiyuki Kuriyama, Yuusuke Okino, Zhongkui Wang, Shinichi Hirai
2019	J	`jnl`	Adaptive Update of Reference Capacitances in Conductive Fabric Based Robotic Skin. IEEE Robotics Autom. Lett. Takahiro Matsuno, Zhongkui Wang, Kaspar Althoefer, Shinichi Hirai
2019	J	`jnl`	Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects. Sensors Muhammad Hisyam Rosle, Zhongkui Wang, Shinichi Hirai
2019	—	`conf`	Grasping Force Measurable Soft Finger using Electro Conductive Material. SII Takahiro Matsuno, Shinichi Hirai
2019	—	`conf`	Gripping Force Modeling of a Binding Hand. RoboSoft Ikumi Okada, Zhongkui Wang, Shinichi Hirai
2019	—	`conf`	Morphological Design of Soft Capacitive Force Sensor. MHS Shinichi Hirai, Takahiro Matsuno
2019	—	`conf`	Numerical Analysis of Contact Area Influence in a Capacitive Soft Force Sensor. RoboSoft Takahiro Matsuno, Shinichi Hirai
2019	J	`jnl`	Wrinkled Soft Sensor With Variable Afferent Morphology. IEEE Robotics Autom. Lett. Qiukai Qi, Shinichi Hirai, Van Anh Ho
2018	—	`conf`	A Plug-In for Automating the Finite Element Modeling of Flatfoot. IIMSS Zhongkui Wang, Shouta Yamae, Masamitsu Kido, Kan Imai, Kazuya Ikoma, Shinichi Hirai
2018	—	`conf`	A Soft Gripper with Adjustable Stiffness and Variable Working Length for Handling Food Material. RCAR Zhongkui Wang, Shinichi Hirai
2018	—	`conf`	Chamber dimension optimization of a bellow-type soft actuator for food material handling. RoboSoft Zhongkui Wang, Shinichi Hirai
2018	—	`conf`	Estimating deformation of a thin flexible plate using a minimum number of angular measurement. RoboSoft Takahiro Matsuno, Shinichi Hirai
2018	—	`conf`	Geometry and Material Optimization of a Soft Pneumatic Gripper for Handling Deformable Object. ROBIO Zhongkui Wang, Shinichi Hirai
2018	A	`conf`	Mechanical and Perceptual Characterizations of the Localized Shearing using a Novel Haptic Display. IROS Anh Van Ho, Shinichi Hirai
2018	—	`conf`	Soft Fingertip with Tactile Sensation for Detecting Grasping Orientation of Thin Object. ROBIO Muhammad Hisyam bin Rosie, Ryo Kojima, Zhongkui Wang, Shinichi Hirai
2018	J	`jnl`	Special issue on 'Morphological computation in soft robotics'. Adv. Robotics Van Anh Ho, Hongbin Liu, Liyu Wang, Fumiya Iida, Shinichi Hirai
2017	J	`jnl`	A Prestressed Soft Gripper: Design, Modeling, Fabrication, and Tests for Food Handling. IEEE Robotics Autom. Lett. Zhongkui Wang, Yuuki Torigoe, Shinichi Hirai
2017	—	`conf`	Aerial pruning mechanism, initial real environment test. RCAR Javier Molina, Shinichi Hirai
2017	—	`conf`	Deformation estimation of a plate spring using asymmetric and symmetric conductive patterns. SII Takahiro Matsuno, Shinichi Hirai
2017	J	`jnl`	Design and Analysis of a Soft-Fingered Hand With Contact Feedback. IEEE Robotics Autom. Lett. Van Anh Ho, Shinichi Hirai
2017	—	`conf`	Design and fabrication of a soft-bodied gripper with integrated curvature sensors. M2VIP Mingzhu Zhu, Zhongkui Wang, Shinichi Hirai, Sadao Kawamura
2017	—	`conf`	Fabrication and performance comparison of different soft pneumatic actuators for lunch box packaging. RCAR Zhongkui Wang, Mingzhu Zhu, Sadao Kawamura, Shinichi Hirai
2017	—	`conf`	Kinematic Analysis of a Novel Skew-gripper for Aerial Pruning Tasks. ICMRE Javier Molina, Shinichi Hirai
2017	A*	`conf`	Morphological computation in tactile sensing: The role of wrinkle. ICRA Van Anh Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, Koji Shibuya
2017	—	`conf`	Pruning tree-branches close to electrical power lines using a skew-gripper and a multirotor helicopter. AIM Javier Molina, Shinichi Hirai
2017	—	`conf`	Real-time curvature estimation of printable soft gripper using electro-conductive yarn. RCAR Takahiro Matsuno, Zhongkui Wang, Shinichi Hirai
2017	J	`jnl`	Soft Gripper Dynamics Using a Line-Segment Model With an Optimization-Based Parameter Identification Method. IEEE Robotics Autom. Lett. Zhongkui Wang, Shinichi Hirai
2017	J	`jnl`	Wrin'Tac: Tactile Sensing System With Wrinkle's Morphological Change. IEEE Trans. Ind. Informatics Van Anh Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, Koji Shibuya
2016	—	`conf`	3D printed soft gripper for automatic lunch box packing. ROBIO Zhongkui Wang, Damith Suresh Chathuranga, Shinichi Hirai
2016	—	`conf`	A 3D printed soft gripper integrated with curvature sensor for studying soft grasping. SII Zhongkui Wang, Shinichi Hirai
2016	J	`jnl`	A Pinching Strategy for Fabrics Using Wiping Deformation. Robotics Mizuho Shibata, Shinichi Hirai
2016	A	`conf`	A soft three axis force sensor useful for robot grippers. IROS Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, D. P. Thrishantha Nanayakkara, Shinichi Hirai
2016	J	`jnl`	Antagonistically Twisted Round Belt Actuator System for Robotic Joints. J. Robotics Mechatronics Takahiro Inoue, Ryuichi Miyata, Shinichi Hirai
2016	J	`jnl`	Development of a Novel Slip Haptic Display Device Based on the Localized Displacement Phenomenon. IEEE Robotics Autom. Lett. Van Anh Ho, Hisayoshi Honda, Shinichi Hirai
2016	A	`conf`	Fabric interface with proximity and tactile sensation for human-robot interaction. IROS Van Anh Ho, Shinichi Hirai, Koki Naraki
2016	A	`conf`	Force control on antagonistic Twist-drive Actuator robot. IROS Takahiro Inoue, Ryuichi Miyata, Shinichi Hirai
2016	—	`conf`	From Localized Shearing to Localized Slippage Perception. ISER Van Anh Ho, Shinichi Hirai
2016	—	`conf`	Function-selectable tactile sensing system with morphological change. SII Van Anh Ho, Hideyasu Yamashita, Koji Shibuya, Zhongkui Wang, Shinichi Hirai, Junya Nagase, Kazuyoshi Tsutsumi
2016	—	`conf`	Static and dynamic performances of a round-belt Twist Actuator mechanism. ROBIO Takahiro Inoue, Shinichi Hirai
2015	J	`jnl`	A novel model for assessing sliding mechanics and tactile sensation of human-like fingertips during slip action. Robotics Auton. Syst. Van Anh Ho, Shinichi Hirai
2015	A	`conf`	Aerial manipulation for the workspace above the airframe. IROS Syohei Shimahara, Robert Ladig, Leewiwatwong Suphachart, Shinichi Hirai, Kazuhiro Shimonomura
2015	A*	`conf`	Binding of food materials with a tension-sensitive elastic thread. ICRA Hisashi Iwamasa, Shinichi Hirai
2015	—	`conf`	Disposable soft 3 axis force sensor for biomedical applications. EMBC Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, D. P. Thrishantha Nanayakkara, Shinichi Hirai
2015	—	`conf`	Embedded electro-conductive yarn for shape sensing of soft robotic manipulators. EMBC Helge A. Wurdemann, Sina Sareh, Ali Shafti, Yohan Noh, Angela Faragasso, Damith Suresh Chathuranga, Hongbin Liu, Shinichi Hirai, Kaspar Althoefer
2015	J	`jnl`	Fictitious Target-Trajectory Forming Control for Redundant Manipulator and Active Regulation of Impulsive Forces. J. Robotics Mechatronics Takahiro Inoue, Ryuichi Miyata, Shinichi Hirai
2015	B	`conf`	Measuring McKibben actuator shrinkage using fiber sensor. RO-MAN Van Anh Ho, Shinichi Hirai
2015	B	`conf`	Micro pneumatic valves for wearable robotic systems. RO-MAN Shinichi Hirai, Kazuhiro Kato
2015	—	`conf`	Origami structure toward floating aerial robot. AIM Hoai Phuong Le, Zhongkui Wang, Shinichi Hirai
2015	A	`conf`	Robotic joint design by agonist and antagonist arrangement with twisting small-diameter round-belts. IROS Takahiro Inoue, Sizuka Yamamoto, Ryuichi Miyata, Shinichi Hirai
2015	A	`conf`	Robust real time material classification algorithm using soft three axis tactile sensor: Evaluation of the algorithm. IROS Damith Suresh Chathuranga, Zhongkui Wang, Yohan Noh, D. P. Thrishantha Nanayakkara, Shinichi Hirai
2015	—	`conf`	Study on the human perception of incipient and overall slippages using a 2D FE fingertip model. EMBC Zhongkui Wang, Damith Suresh Chathuranga, Shinichi Hirai
2014	—	`conf`	A finite element model of flatfoot (Pes Planus) for improving surgical plan. EMBC Zhongkui Wang, Kan Imai, Masamitsu Kido, Kazuya Ikoma, Shinichi Hirai
2014	—	`conf`	Dynamic simulation for 6-strut tensegrity robots. ICIA Wenjuan Du, Shugen Ma, Bin Li, Minghui Wang, Shinichi Hirai
2014	—	`book`	Mechanics of Localized Slippage in Tactile Sensing - And Application to Soft Sensing Systems Anh Van Ho, Shinichi Hirai
2014	—	`conf`	Multimodal flexible sensor for healthcare systems. EMBC Van Anh Ho, Sho Imai, Shinichi Hirai
2014	—	`ch.`	Why Humans can Manipulate Objects Despite a Time Delay in the Nervous System. The Human Hand as an Inspiration for Robot Hand Development Takahiro Inoue, Shinichi Hirai
2013	—	`conf`	A biomimetic soft fingertip applicable to haptic feedback systems for texture identification. HAVE Damith Suresh Chathuranga, Zhongkui Wang, Van Anh Ho, Atsushi Mitani, Shinichi Hirai
2013	—	`conf`	Active shaping of a tensegrity robot via pre-pressure. AIM Shinichi Hirai, Yuusuke Koizumi, Mizuho Shibata, Minghui Wang, Bin Li
2013	A	`conf`	Beam bundle model of human-like fingertip for investigation of tactile mechanism. IROS Van Anh Ho, Zhongkui Wang, Shinichi Hirai
2013	—	`conf`	Improvement of sawtooth shape generated by anisotropic etching process of single-crystal silicon for microparts feeding using horizontal and symmetric vibrations. AIM Atsushi Mitani, Hoai Phuong Le, Yasutaka Matsuo, Shinichi Hirai
2013	—	`conf`	Investigation of a biomimetic fingertip's ability to discriminate fabrics based on surface textures. AIM Damith Suresh Chathuranga, Van Anh Ho, Shinichi Hirai
2013	J	`jnl`	Protein Experimental Information Management System (PREIMS) Based on Ontology: Development and Applications. Inf. Media Technol. Junko Sato, Kouji Kozaki, Susumu Handa, Takashi Ikeda, Ryotaro Saka, Kohei Tomizuka, Yugo Nishiyama, Toshiyuki Okumura, Shinichi Hirai, Tadashi Ohno, Mamoru Ohta, Susumu Date, Haruki Nakamura
2013	A*	`conf`	Regressor-free tracking of robots with self-tuning PD-like control. ICRA Jorge Armendariz, Vicente Parra-Vega, Rodolfo García-Rodríguez, Shinichi Hirai, Sergio Rosales, Felipe Alberto Machorro-Fernández
2013	—	`conf`	Simulation model for sub-millimeter part feeding on the asymmetrical saw-tooth surface with air drag. AIM P. H. Le, Thien Xuan Dinh, Atsushi Mitani, Shinichi Hirai
2013	—	`conf`	Toward a Platform of Human-Like Fingertip Model in Haptic Environment for Studying Sliding Tactile Mechanism. Robotics: Science and Systems Anh Van Ho, Shinichi Hirai
2013	—	`conf`	Viscoelastic interaction between intraocular microrobots and vitreous humor: A finite element approach. EMBC Zhongkui Wang, Juho Pokki, Olgaç Ergeneman, Bradley J. Nelson, Shinichi Hirai
2012	J	`jnl`	A 3-D Nonhomogeneous FE Model of Human Fingertip Based on MRI Measurements. IEEE Trans. Instrum. Meas. Zhongkui Wang, Lijuan Wang, Van Anh Ho, Shigehiro Morikawa, Shinichi Hirai
2012	—	`conf`	A bio-mimetic fingertip that detects force and vibration modalities and its application to surface identification. ROBIO K. V. D. S. Chathuranga, Van Anh Ho, Shinichi Hirai
2012	—	`conf`	Dynamic self-tuning PD control for tracking of robot manipulators. CDC Jorge Armendariz, Vicente Parra-Vega, Rodolfo García-Rodríguez, Shinichi Hirai
2012	—	`conf`	Dynamic simulation of six-strut tensegrity robot rolling. ROBIO Shinichi Hirai, Ryo Imuta
2012	A	`conf`	Experimental investigation of surface identification ability of a low-profile fabric tactile sensor. IROS Van Anh Ho, Takahiro Araki, Masaaki Makikawa, Shinichi Hirai
2012	—	`conf`	Fabric manipulation utilizing contacts with the environment. CASE Mizuho Shibata, Shinichi Hirai
2012	A	`conf`	Improving physical human-robot interaction through viscoelastic soft fingertips. IROS Jorge Armendariz, Felipe Alberto Machorro-Fernández, Vicente Parra-Vega, Rodolfo García-Rodríguez, Shinichi Hirai
2012	A	`conf`	Modeling and simulation of friction forces during needle insertion using Local Constraint Method. IROS Lijuan Wang, Zhongkui Wang, Shinichi Hirai
2012	A*	`conf`	Path planning for belt object manipulation. ICRA Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, Shinichi Hirai
2012	—	`conf`	Property identification of a deformable belt object from its static images toward its manipulation. CASE Hidefumi Wakamatsu, Masayuki Aoki, Eiji Morinaga, Eiji Arai, Shinichi Hirai
2012	A*	`conf`	Rolling tensegrity driven by pneumatic soft actuators. ICRA Yuusuke Koizumi, Mizuho Shibata, Shinichi Hirai
2012	A*	`conf`	The effect of anisotropic friction on vibratory velocity fields. ICRA Paul Umbanhowar, Thomas H. Vose, Atsushi Mitani, Shinichi Hirai, Kevin M. Lynch
2012	—	`conf`	What can be inferred from a tactile arrayed sensor in autonomous in-hand manipulation? CASE Van Anh Ho, Tatsuya Nagatani, Akio Noda, Shinichi Hirai
2011	—	`conf`	A 3D FE dynamic model of human fingertip based on MRI data. HAVE Zhongkui Wang, Yoshiyuki Abe, Shinichi Hirai, Shigehiro Morikawa
2011	—	`conf`	A local constraint method for needle insertion modeling and simulation. HAVE Lijuan Wang, Shinichi Hirai
2011	J	`jnl`	Development and Analysis of a Sliding Tactile Soft Fingertip Embedded With a Microforce/Moment Sensor. IEEE Trans. Robotics Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai
2011	A	`conf`	Development of a low-profile sensor using electro-conductive yarns in recognition of slippage. IROS Van Anh Ho, Daisuke Kondo, Shima Okada, Takahiro Araki, Emi Fujita, Masaaki Makikawa, Shinichi Hirai
2011	—	`conf`	Dynamic Insertion of Bendable Flat Cables with Variation Based on Shape Returning Points. ICIRA (1) Yuuki Kataoka, Shinichi Hirai
2011	A*	`conf`	Green strain based FE modeling of rheological objects for handling large deformation and rotation. ICRA Zhongkui Wang, Shinichi Hirai
2011	—	`conf`	Miniaturized unconstrained valves with pressure control for driving a robot finger. ROBIO Masayuki Tatsumi, Kazuhiro Izusawa, Shinichi Hirai
2011	J	`jnl`	Modeling and Analysis of a Frictional Sliding Soft Fingertip, and Experimental Validations. Adv. Robotics Van Anh Ho, Shinichi Hirai
2011	—	`conf`	TPS-SURF-SAC matching approach of feature point applied to deformation measurement of nonrigid tissues from MR images. ROBIO Xubing Zhang, Shinichi Hirai
2011	A*	`conf`	Three-dimensional modeling and simulation of the sliding motion of a soft fingertip with friction, focusing on stick-slip transition. ICRA Van Anh Ho, Shinichi Hirai
2011	—	`conf`	Understanding Slip Perception of Soft Fingertips by Modeling and Simulating Stick-Slip Phenomenon. Robotics: Science and Systems Van Anh Ho, Shinichi Hirai
2010	—	`conf`	A local geometric preserving approach for interior deformation fields measurement from MR volumetric images of human tissues. ROBIO Penglin Zhang, Shinichi Hirai
2010	—	`conf`	Contact modeling and parameter switching for simultaneous reproduction of rheological force and deformation. ROBIO Zhongkui Wang, Shinichi Hirai
2010	A	`conf`	Deformation path planning for manipulation of flexible circuit boards. IROS Yuya Asano, Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, Shinichi Hirai
2010	A*	`conf`	Design of a small-scale tactile sensor with three sensing points for using in robotic fingertips. ICRA Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai
2010	J	`jnl`	Miniaturization Design of Piezoelectric Vibration-Driven Pneumatic Unconstrained Valves. J. Robotics Mechatronics Sumadi Jien, Shinichi Hirai, Kenshin Honda
2010	A	`conf`	Modeling and property estimation of japanese sweets for their manufacturing simulation. IROS Zhongkui Wang, Shinichi Hirai
2010	A	`conf`	Modelless and grasping-forceless control by robotic fingers capable of mechanically coupled movement. IROS Takahiro Inoue, Daisuke Takizawa, Shinichi Hirai
2010	—	`conf`	SURF and Spatial Association Correspondence applied in extraction and matching of feature points from MR images of deformed tissues. ROBIO Xubing Zhang, Shinichi Hirai, Penglin Zhang
2010	A*	`conf`	Two-dimensional dynamic modeling of a sliding motion of a soft fingertip focusing on stick-to-slip transition. ICRA Van Anh Ho, Shinichi Hirai
2010	A*	`conf`	Two-phased controller for a pair of 2-DOF soft fingertips based on the qualitative relationship between joint angles and object location. ICRA Yujiro Yamazaki, Takahiro Inoue, Shinichi Hirai
2010	—	`conf`	Welcome message. ROBIO Shugen Ma, Shinichi Hirai
2009	A*	`conf`	Analysis of sliding of a soft fingertip embedded with a novel micro force/moment sensor: Simulation, experiment, and application. ICRA Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai
2009	A*	`conf`	Crawling by body deformation of tensegrity structure robots. ICRA Mizuho Shibata, Fumio Saijyo, Shinichi Hirai
2009	A*	`conf`	Deformation modeling of belt object with angles. ICRA Hidefumi Wakamatsu, Eiji Morinaga, Eiji Arai, Shinichi Hirai
2009	J	`jnl`	Editorial: Selected Papers from Robotics: Science and Systems 2008. Int. J. Robotics Res. Jeff Trinkle, Shinichi Hirai
2009	A	`conf`	Modeling and parameter identification of rheological object based on FE method and nonlinear optimization. IROS Zhongkui Wang, Shinichi Hirai
2009	A*	`conf`	Parallel-distributed model in three-dimensional soft-fingered grasping and manipulation. ICRA Takahiro Inoue, Shinichi Hirai
2009	A*	`conf`	Physical parameter identification of rheological object based on measurement of deformation and force. ICRA Zhongkui Wang, Kazuki Namima, Shinichi Hirai
2009	—	`conf`	Simulation of soft fingertip deformation under contact and rolling constraints using FEM and CSM. ROBIO Kazuki Namima, Zhongkui Wang, Shinichi Hirai
2009	A	`conf`	Stochastic static analysis of link driven by actuator bundles. IROS Takahiro Yoshimura, Mizuho Shibata, Shinichi Hirai
2009	J	`jnl`	Submillimeter Micropart Feeding Along an Asymmetric Femtosecond-Laser-Microfabricated Surface. Int. J. Autom. Technol. Atsushi Mitani, Shinichi Hirai
2009	—	`conf`	Two-phased force and coordinates controller for a pair of 2-DOF soft fingers. ROBIO Yujiro Yamazaki, Takahiro Inoue, Shinichi Hirai
2009	A*	`conf`	Wiping motion for deformable object handling. ICRA Mizuho Shibata, Tsuyoshi Ota, Shinichi Hirai
2008	—	`conf`	Analysis of contact between feeder surface and microparts based on measurements for microparts feeder using an asymmetric surface. CASE Atsushi Mitani, Shinichi Hirai
2008	A	`conf`	Feeding of submillimeter-sized microparts along an asymmetric surface using only horizontal vibration: Evaluation of micro-fabricated surface using femtosecond laser process. IROS Atsushi Mitani, Hideya Tsuji, Toshiatsu Yoshimura, Shinichi Hirai
2008	C	`conf`	Force/moment sensing during sliding motion using a micro sensor embedded in a soft fingertip. ICARCV Van Anh Ho, Dzung Viet Dao, Susumu Sugiyama, Shinichi Hirai
2008	—	`conf`	Handling of hemmed fabrics by a single-armed robot. CASE Mizuho Shibata, Tsuyoshi Ota, Yoshimasa Endo, Shinichi Hirai
2008	—	`conf`	On the problem of determination of spring stiffness parameters for spring-mesh models. MMVR Huynh Quang Huy Viet, Shinichi Hirai, Yoshiaki Shirai, Satoshi Yamaguchi, Hiromi T. Tanaka, Hiroshi Kawasaki, Yukiko Kawai
2008	—	`conf`	Parallel-distributed model of soft fingertips in three-dimensional grasping and manipulation. ROBIO Takahiro Inoue, Shinichi Hirai
2007	A	`conf`	A two-phased object orientation controller on soft finger operations. IROS Takahiro Inoue, Shinichi Hirai
2007	A*	`conf`	Analysis of Circular Robot Jumping by Body Deformation. ICRA Yoshinari Matsuyama, Shinichi Hirai
2007	A	`conf`	Angle control of a loosely coupled mechanism in 3D space using length sensors. IROS Mizuho Shibata, Takahiro Yoshimura, Shinichi Hirai
2007	A*	`conf`	Dynamic Stable Manipulation via Soft-fingered Hand. ICRA Takahiro Inoue, Shinichi Hirai
2007	J	`jnl`	Feeding Submillimeter Microparts Along a Saw-Tooth Surface Using Only Horizontal Vibration: Effects of Saw-Tooth Pitch, Vibration Frequency, and Humidity. Int. J. Autom. Technol. Atsushi Mitani, Toshiatsu Yoshimura, Shinichi Hirai
2007	—	`conf`	Feeding of Submillimeter-sized Microparts along a Saw-tooth Surface Using Only Horizontal Vibration: Analysis of Convexities on the Surface of Microparts. CASE Atsushi Mitani, Toshiatsu Yoshimura, Shinichi Hirai
2007	—	`conf`	Fishbone Model for Belt Object Deformation. Robotics: Science and Systems Hidefumi Wakamatsu, Eiji Arai, Shinichi Hirai
2007	A*	`conf`	Loosely Coupled Joint Driven by SMA Coil Actuators. ICRA Mizuho Shibata, Takahiro Yoshimura, Shinichi Hirai
2007	A*	`conf`	Realtime and Robust Motion Tracking by Matched Filter on CMOS+FPGA Vision System. ICRA Kazuhiro Shimizu, Shinichi Hirai
2007	—	`conf`	Two-stage control via virtual desired values in soft-fingered manipulation with time delay. ROBIO Takahiro Inoue, Shinichi Hirai
2006	A*	`conf`	CMOS+FPGA Vision System for Visual Feedback of Mechanical Systems. ICRA Kazuhiro Shimizu, Shinichi Hirai
2006	J	`jnl`	Crawling and Jumping by a Deformable Robot. Int. J. Robotics Res. Yuuta Sugiyama, Shinichi Hirai
2006	J	`jnl`	Detection of planar motion objects using Radon transform and one-dimensional phase-only matched filtering. Syst. Comput. Jpn. Tatsuhiko Tsuboi, Shinichi Hirai
2006	C	`conf`	Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles. ICARCV Hidefumi Wakamatsu, Tatsuya Yamasaki, Shinichi Hirai, Akira Tsumaya, Eiji Arai
2006	J	`jnl`	Elastic Model of Deformable Fingertip for Soft-Fingered Manipulation. IEEE Trans. Robotics Takahiro Inoue, Shinichi Hirai
2006	—	`conf`	Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation. ISER Takahiro Inoue, Shinichi Hirai
2006	A	`conf`	Implementing Planar Motion Tracking Algorithms on CMOS+FPGA Vision System. IROS Kazuhiro Shimizu, Shinichi Hirai
2006	J	`jnl`	Knotting/Unknotting Manipulation of Deformable Linear Objects. Int. J. Robotics Res. Hidefumi Wakamatsu, Eiji Arai, Shinichi Hirai
2006	A*	`conf`	Manipulation Planning for Unraveling Linear Objects. ICRA Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai
2006	J	`jnl`	Modeling and Stability Analysis of Dynamic Control Through a Soft Interface. J. Robotics Mechatronics Mizuho Shibata, Shinichi Hirai
2006	A*	`conf`	Soft Object Manipulation by Simultaneous Control of Motion and Deformation. ICRA Mizuho Shibata, Shinichi Hirai
2006	A*	`conf`	Study on Hemispherical Soft-fingered Handling for fine Manipulation by Minimum D.O.F. Robotic Hand. ICRA Takahiro Inoue, Shinichi Hirai
2006	A	`conf`	Unraveling of Deformable Linear Objects Based on 2D Information about Their Crossing States. IROS Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai
2006	C	`conf`	Validation of FE Deformation Models using Ultrasonic and MR Images. ICARCV Junji Muramatsu, Takashi Ikuta, Shinichi Hirai, Shigehiro Morikawa
2005	A*	`conf`	Circular/Spherical Robots for Crawling and Jumping. ICRA Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, Shinichi Hirai
2005	A*	`conf`	Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates. ICRA Hidefumi Wakamatsu, Kousaku Takahashi, Shinichi Hirai
2005	A*	`conf`	Local Minimum of Elastic Potential Energy on Hemispherical Soft Fingertip. ICRA Takahiro Inoue, Shinichi Hirai
2005	A*	`conf`	Manipulation Planning for Knotting/Unknotting and Tightly Tying of Deformable Linear Objects. ICRA Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai
2005	A*	`conf`	Micro-Parts Feeding by a Saw-tooth Surface. ICRA Atsushi Mitani, Naoto Sugano, Shinichi Hirai
2005	A*	`conf`	Quasi-Static Manipulation with Hemispherical Soft Fingertip via Two Rotational Fingers. ICRA Takahiro Inoue, Shinichi Hirai
2005	J	`jnl`	Realtime FPGA-Based Vision System. J. Robotics Mechatronics Shinichi Hirai, Masakazu Zakouji, Akihiro Masubuchi, Tatsuhiko Tsuboi
2005	A	`conf`	Stability analysis for dynamic control on contact with soft interface in continuous-discrete time system. IROS Mizuho Shibata, Shinichi Hirai
2004	A	`conf`	A comparative study of rheology MSD models whose structures are lattice and truss. IROS Ryo Nogami, Hiroshi Noborio, Seiji Tomokuni, Shinichi Hirai
2004	—	`conf`	A simplified model for a biomechanical joint with soft cartilage. SMC (1) Joseph Anand Vaz, Shinichi Hirai
2004	A*	`conf`	Characterizing the Dynamic Deformation of Soft Fingertips and Analyzing its Significance for Multi-fingered Operations. ICRA Byoung-Ho Kim, Shinichi Hirai
2004	—	`conf`	Crawling and Jumping by a Deformable Robot. ISER Yuuta Sugiyama, Shinichi Hirai
2004	A	`conf`	Crawling and jumping of deformable soft robot. IROS Yuuta Sugiyama, Shinichi Hirai
2004	A	`conf`	Deformational features of soft-fingertips applied to object manipulations: theoretical and experimental analyses. IROS Byoung-Ho Kim, Shinichi Hirai
2004	A*	`conf`	Extracting Rheological Properties of Deformable Objects with Haptic Vision. ICRA Naoki Ueda, Shinichi Hirai, Hiromi T. Tanaka
2004	A*	`conf`	Planning of one-handed Knotting/Raveling Manipulation of Linear Objects. ICRA Hidefumi Wakamatsu, Akira Tsumaya, Eiji Arai, Shinichi Hirai
2004	A*	`conf`	Robots on Self-organizing Knowledge Networks. ICRA Nak Young Chong, Hiroshi Hongu, Manabu Miyazaki, Koji Takemura, Kenichi Ohara, Kohtaro Ohba, Shinichi Hirai, Kazuo Tanie
2004	A*	`conf`	Robust and Video-frame Rate Tracking of Planar Motion by Matched Filtering on FPGA. ICRA Shinya Yamamoto, Shinichi Hirai
2004	A*	`conf`	Rotational Contact Model of Soft Fingertip for Tactile Sensing. ICRA Takahiro Inoue, Shinichi Hirai
2004	A	`conf`	Stability and graspability analysis in grasping task taking fingertip dynamics into consideration. IROS Mizuho Shibata, Shinichi Hirai
2004	J	`jnl`	Static Modeling of Linear Object Deformation Based on Differential Geometry. Int. J. Robotics Res. Hidefumi Wakamatsu, Shinichi Hirai
2003	A*	`conf`	A vision-based haptic exploration. ICRA Hiromi T. Tanaka, Kiyotaka Kushihama, Naoki Ueda, Shinichi Hirai
2003	A	`conf`	Actuation of a thumb prosthesis using remaining natural fingers. IROS Joseph Anand Vaz, Shinichi Hirai
2003	A	`conf`	Analysis on the fundamental deformation effect of soft fingertips for soft-fingered object manipulations. IROS Byoung-Ho Kim, Shinichi Hirai, Takahiro Inoue
2003	A*	`conf`	Constructing rheologically deformable virtual objects. ICRA Masafumi Kimura, Yuuta Sugiyama, Seiji Tomokuni, Shinichi Hirai
2003	A*	`conf`	Development of a soft-fingertip and its modeling based on force distribution. ICRA Kwi-Ho Oark, Byoung-Ho Kim, Shinichi Hirai
2003	A	`conf`	Knotting/raveling manipulation of linear objects. IROS Hidefumi Wakamatsu, Akira Tsumaya, Keiichi Shirase, Eiji Arai, Shinichi Hirai
2003	B	`conf`	Modeling contact interaction of a hand prosthesis with soft tissue at the interface. SMC Joseph Anand Vaz, Shinichi Hirai
2003	A	`conf`	Modeling of soft fingertip for object manipulation using tactile sensing. IROS Takahiro Inoue, Shinichi Hirai
2002	A	`conf`	Computing and calibrating collision impulses and its application for air hockey game. IROS Toshiko Iguchi, Noriyuki Katsuyama, Hiroshi Noborio, Shinichi Hirai
2002	A*	`conf`	Deformation Control of Rheological Food Dough using a Forming Process Model. ICRA Shinichi Tokumoto, Shinichi Hirai
2002	C	`conf`	Handling of randomly located moving parts using FPGA-based realtime vision. ICARCV Shinichi Hirai, Tatsuhiko Tsuboi, Masakazu Zakouji, Mizuho Shibata
2002	A*	`conf`	Parallel Processing of One-Sided Radon Transform for the Realtime Detection of Position and Orientation of Planar Motion Objects. ICRA Tatsuhiko Tsuboi, Masakazu Zakouji, Akihiro Masubuchi, Shinichi Hirai
2002	A*	`conf`	Spreading and Isolating Multiple Stacked Cards using Absorptive Hole Array. ICRA Shinichi Hirai, Masamitsu Ukai, Ken Yamada, Koji Sugita
2002	A*	`conf`	Vision-Based Motion Control of Pneumatic Group Actuators. ICRA Shinichi Hirai, Kiyoto Shimizu, Sadao Kawamura
2001	J	`jnl`	Modeling of shape bifurcation phenomena in manipulations of deformable string objects. Adv. Robotics Takahiro Wada, Brenan J. McCarragher, Hidefumi Wakamatsu, Shinichi Hirai
2001	A*	`conf`	Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes. ICRA Shinichi Hirai, Tomohiro Masui, Sadao Kawamura
2001	A*	`conf`	Robust Manipulation of Deformable Objects By A Simple PID Feedback. ICRA Takahiro Wada, Shinichi Hirai, Sadao Kawamura, Norimasa Kamiji
2001	A*	`conf`	Video-frame Rate Detection of Position and Orientation of Planar Motion Objects using One-sided Radon Transform. ICRA Tatsuhiko Tsuboi, Akihiro Masubuchi, Shinichi Hirai, Shinya Yamamoto, Kazuhiko Ohnishi, Suguru Arimoto
2001	A*	`conf`	Vision-based Automatic Forming of Rheological Objects Using Deformation Transition Graphs. ICRA Shinichi Tokumoto, Takuya Saito, Shinichi Hirai
2000	A*	`conf`	Deformation Transition Graphs in Forming Operations of Rheological Objects. ICRA Shinichi Tokumoto, Yoshiaki Fujita, Shinichi Hirai
2000	J	`jnl`	Indirect simultaneous positioning of deformable objects with multi-pinching fingers based on an uncertain model. Robotica Shinichi Hirai, Takahiro Wada
2000	A	`conf`	Modeling of hysteresis in deformation of rodlike objects toward their manipulation. IROS Takahiro Wada, Brenan J. McCarragher, Hidefumi Wakamatsu, Shinichi Hirai, Takeshi Yonezawa, Shinichi Tokumoto
2000	A	`conf`	Qualitative synthesis of deformable cylindrical actuators through constraint topology. IROS Shinichi Hirai, Pierre Cusin, Hiroki Tanigawa, Tomohiro Masui, Satoshi Konishi, Sadao Kawamura
2000	—	`conf`	Robust Manipulation of Deformable Objects Using Model Based Technique. AMDO Takahiro Wada, Shinichi Hirai, H. Mori, Sadao Kawamura
1999	A*	`conf`	Deformation Modeling of Viscoelastic Objects for Their Shape Control. ICRA Shinichi Tokumoto, Yoshiaki Fujita, Shinichi Hirai
1999	A*	`conf`	Development of Impulsive Object Sorting Device with Air Floating. ICRA Shinichi Hirai, Masaaki Niwa, Sadao Kawamura
1999	A*	`conf`	Planning and Control of Indirect Simultaneous Positioning Operation of Deformable Objects. ICRA Takahiro Wada, Shinichi Hirai, Sadao Kawamura
1998	A	`conf`	Indirect simultaneous positioning operations of extensionally deformable objects. IROS Takahiro Wada, Shinichi Hirai, Sadao Kawamura
1998	J	`jnl`	Reconfigurable mechanisms: an approach to the rapid prototyping of multi-link mechanisms. Adv. Robotics Tatsuhiko Tsuboi, Shinichi Hirai
1998	J	`jnl`	Transferring Human Motion to Mechanical Manipulator in Insertion of Deformable Tubes. J. Robotics Mechatronics Shinichi Hirai
1997	A*	`conf`	Modeling of plain knitted fabrics for their deformation control. ICRA Takahiro Wada, Shinichi Hirai, Tatsuya Hirano, Sadao Kawamura
1996	A*	`conf`	Human-demonstration based approach to the recognition of process state transitions in insertion of deformable tubes. ICRA Shinichi Hirai, Hideaki Noguchi, Kazuaki Iwata
1996	A	`conf`	Learning of admittance matrix elements for manipulative operations. IROS Shinichi Hirai, Takashi Inatsugi, Kazuaki Iwata
1996	A*	`conf`	Static analysis of deformable object grasping based on bounded force closure. ICRA Hidefumi Wakamatsu, Shinichi Hirai, Kazuaki Iwata
1995	A*	`conf`	Modeling of Linear Objects Considering Bend, Twist, and Extensional Deformations. ICRA Hidefumi Wakamatsu, Shinichi Hirai, Kazuaki Iwata
1995	A*	`conf`	Transplantation of Human Skillful Motion to Mnipulators in Insertion of Deformable Tubes. ICRA Shinichi Hirai, Hideaki Noguchi, Kazuaki Iwata
1994	A*	`conf`	Modeling of Deformable Thin Parts for Their Manipulation. ICRA Shinichi Hirai, Hidefumi Wakamatsu, Kazuaki Iwata
1993	—	`conf`	Derivation of Damping Control Parameters Based on Geometric Model. ICRA (2) Shinichi Hirai, Kazuaki Iwata
1993	J	`jnl`	Identification of contact states based on a geometric model for manipulative operations. Adv. Robotics Shinichi Hirai
1993	J	`jnl`	Kinematics and Statics of Manipulation Using the Theory of Polyhedral Convex Cones. Int. J. Robotics Res. Shinichi Hirai, Haruhiko Asada
1992	A	`conf`	A Model-based Generation Of Damping Control Law For Part-mat Ing. IROS Shinichi Hirai, Kazuaki Iwata
1992	A*	`conf`	Recognition of contact state based on geometric model. ICRA Shinichi Hirai, Kazuaki Iwata
1988	A	`conf`	Kinematics of Manipulation Using the Theory of Polyhedral Convex Cones and Its Applications to Grasping and Assembly Operations. IROS Shinichi Hirai, Haruhiko Asada, Hidekatsu Tokumaru