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Journal papers
Conf. papers
Preprints
Seminars
Patents
Awards
Dissertation

Ryo Kikuuwe's Publications

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[Japanese]

Full texts are available upon request. Please email me at   or send me a request from ResearchGate.

Journal Papers

  1. Yuki Yamamoto, Jinjun Qiu, Takayuki Doi, Takao Nanjo, Koji Yamashita, and Ryo Kikuuwe:“A Position Controller for Hydraulic Excavators with Deadtime and Regenerative Pipelines,” IEEE Transactions on Automation Science and Engineering, 10.1109/TASE.2024.3354952, 2024.
    • This is an achievement of our collaboration with Kobelco Construction Machinery Co., Ltd. This paper proposes a position controller based on the hydraulic circuit model proposed in the paper 38, and applied it to a hydraulic excavator.
    • Related SpeakerDeck Slides
    • Full text PDF (Open Access)
    • ResearchGate
    • DOI:10.1109/TASE.2024.3354952
    • IEEE Xplore (Open Access)
    • [Abstract]

  1. Ryusei Mae and Ryo Kikuuwe:“An Admittance Controller with a Jerk Limiter for Position-Controlled Robots,” Journal of Robotics and Mechatronics, vol. 36, no. 2, pp.xx-xx, April 2024.
    • This paper presents an admittance controller for position-controlled robots having significant deadtime in the dedicated controllers. We used UR3e in the velocity-command mode, which results in 6-ms deadtime from the velocity command to the response.
    • Youtube Movie
    • Full text PDF (Open Access)
    • ResearchGate
    • DOI:10.51094/jxiv.444
    • Fuji Technology Press (Open Access)
    • [Abstract]

  1. Ryo Nishimoto and Ryo Kikuuwe: “Position-Commanding Anti-Sway Controller for 2-D Overhead Cranes Under Velocity and Acceleration Constraints,” IEEE Access, vol.11, pp.35069-35079, April 2023.
    • This paper proposes an anti-sway control for a crane using a simple pseudo-integrator and nonsmooth functions.
    • Youtube movie
    • Full text PDF (Open Access)
    • ResearchGate
    • DOI:10.1109/ACCESS.2023.3265586
    • IEEE Xplore (Open Access)
    • [Abstract]

  1. Yachen Zhang and Ryo Kikuuwe: “COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots,” IEEE Access, vol.11, pp.25786-25800, March 2023.
    • This paper presents a controller to manipulate bidal robots using simple 3D pointing devices.
    • Youtube movie 1
    • Youtube movie 2
    • Full text PDF (Open Access)
    • ResearchGate
    • DOI:10.1109/ACCESS.2023.3256720
    • IEEE Xplore (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe: “Dynamics Modeling of Gear Transmissions with Asymmetric Load-Dependent Friction,” Mechanism and Machine Theory, vol.179, p.105116, January 2023.
    • This paper proposes a new concise equation-of-motion representation of gear transmissions with load-depending friction, including those non-backdrivable. It can be applied to simulation of robotic systems having joints with heavy friction.
    • Correction of an error: Ryo Kikuuwe:“Corrigendum to ‘Dynamics modeling of gear transmissions with asymmetric load-dependent friction’ [Mechanism and Machine Theory 179 (2023) 105116],'” Mechanism and Machine Theory, vol.186, p.105366, April 2023.
    • author's final version on techRxiv
    • ResearchGate
    • DOI:10.1016/j.mechmachtheory.2022.105116
    • Elsevier
    • [Abstract]

  1. Ryo Kikuuwe, Yuki Yamamoto and Bernard Brogliato: “Implicit Implementation of Nonsmooth Controllers to Nonsmooth Actuators,” IEEE Transactions on Automatic Control, vol.67, no.9, p.4645-4657, September 2022.
    • This paper proposes a theoretical framework to implement a sliding mode controller to nonsmooth actuators, of which an example is hydraulic actuators detailed in the paper 38. A real-world application of the theory is reported in the paper 37.
    • Full text PDF
    • ResearchGate
    • DOI:10.1109/TAC.2022.3163124
    • IEEExplorer (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe, Tomofumi Okada, Hideo Yoshihara, Takayuki Doi, Takao Nanjo and Koji Yamashita: “A Nonsmooth Quasi-Static Modeling Approach for Hydraulic Actuators,” Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, vol.143, no.12, p.121002, December 2021.
    • This is an achievement of our collaboration with Kobelco Construction Machinery Co., Ltd.
    • Full text PDF
    • ResearchGate
    • DOI:10.1115/1.4051894
    • ASME Digital Library (Open Access)
    • [Abstract]

  1. Yuki Yamamoto, Jinjun Qiu, Yoshiki Munemasa, Takayuki Doi, Takao Nanjo, Koji Yamashita, and Ryo Kikuuwe: “A Sliding-Mode Set-Point Position Controller for Hydraulic Excavators,” IEEE Access, vol.9, pp.153735-153749, November 2021.
    • A new controller (proposed in the paper 39) based on a new physical model (proposed in the paper 38) of hydraulic actuators is applied to a hydraulic excavator. This is an outcome of our collaboration with Kobelco Construction Machinery Co., Ltd.
    • Full text PDF
    • ResearchGate
    • DOI:10.1109/ACCESS.2021.3128215
    • IEEE Xplore (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe, Pablo J. Prieto and J. A. López-Rentería: “Chattering of Proxy-based Sliding Mode Control in the Presence of Parasitic Dynamics,” IMA Journal of Mathematical Control and Information, vol.38, no.1, pp.177-191, March 2021.
    • This paper applies the describing function method to PSMC. It is a joint work with Dr. Prieto (CETYS Universidad, Tijuana, Mexico), who is a user of PSMC.
    • Full text will be available upon request.
    • ResearchGate
    • DOI:10.1093/imamci/dnaa006
    • Oxford Academic
    • [Abstract]

  1. Ryo Kikuuwe: “Sliding Motion Accuracy of Proxy-Based Sliding Mode Control Subjected to Measurement Noise and Disturbance,” European Journal of Control, vol.58, pp.114-122, March 2021.
    • SpeakerDeck Slides of a preliminary version.
    • Full text will be available upon request.
    • ResearchGate
    • DOI:10.1016/j.ejcon.2020.07.005
    • Elsevier
    • [Abstract]

  1. Gyuho Byun and Ryo Kikuuwe: “An Improved Sliding Mode Differentiator Combined with Sliding Mode Filter for Estimating First and Second-Order Derivatives of Noisy Signals,” International Journal of Control, Automation and Systems, vol.18, no.12, pp.3001-3014, December 2020.

  1. Xiaogang Xiong, Ryo Kikuuwe, Shyam Kamal and Shanhai Jin: “Implicit-Euler Implementation of Super-Twisting Observer and Twisting Controller for Second-Order Systems,” IEEE Transactions on Circuits and Systems II: Express Briefs, vol.67, no.11, pp.2607-2611, November 2020.
    • Full text will be available upon request.
    • ResearchGate
    • DOI:10.1109/TCSII.2019.2957271
    • IEEE Xplore
    • [Abstract]

  1. Nehal Baiomy and Ryo Kikuuwe: “An Amplitude- and Rate-Saturated Collective Pitch Controller for Wind Turbine Systems,” Renewable Energy, vol.158, pp.400-409, October 2020.
    • This paper presents an application of the control technique presented in the paper 30 below to wind turbine systems. The technique is tested with simulation using FAST.
    • Full text will be available upon request.
    • PDF of the authors' version
    • ResearchGate
    • DOI:10.1016/j.renene.2020.05.112
    • Elsevier
    • [Abstract]

  1. Gyuho Byun and Ryo Kikuuwe: “Stiff and Safe Task-Space Position and Attitude Controller for Robotic Manipulators,” ROBOMECH Journal, vol.7, article 18, March 2020.
    • DOI:10.1186/s40648-020-00166-1
    • Springer (Open Access)
    • [Abstract]

  1. Nehal Baiomy and Ryo Kikuuwe: “An Amplitude- and Rate-Saturated Controller for Linear Plants,” Asian Journal of Control, Vol.22, No.1, pp.77-91, January 2020.
    • A parameter tuning guideline for this controller is published in the paper 27 below, which was submitted after this paper.
    • Full text PDF made available by Wiley's OnlineOpen option
    • DOI:10.1002/asjc.1851
    • Wiley (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe: “A Brush-Type Tire Model with Nonsmooth Representation,” Mathematical Problems in Engineering, Vol.2019, Article 9747605, December 2019.
    • This paper also includes a dissipation potential function to produce the friction force with two-dimensional (multidimensional) Stribeck effect.
    • SpeakerDeck Slides of a preliminary version presented at an Euromech Colloquium. It is slightly different from this paper's content.
    • Youtube movie
    • Full text PDF
    • DOI:10.1155/2019/9747605
    • Hindawi (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe: “Torque-Bounded Admittance Control Realized by a Set-Valued Algebraic Feedback,” IEEE Transactions on Robotics, Vol.35, No.5, pp.1136-1149, October 2019.
    • SpeakerDeck Slides
    • Youtube movies: movie1, movie2.
    • Full text will be available upon request.
    • PDF of the author's version
    • ResearchGate
    • DOI:10.1109/TRO.2019.2920069
    • IEEE Xplore
    • [Abstract]

  1. Nehal Baiomy and Ryo Kikuuwe: “Parameter Selection Procedure for an Amplitude- and Rate-Saturated Controller,” International Journal of Control, Automation and Systems,, Vol.17, No.4, pp.926-935, April 2019.
    • This paper presents a parameter tuning guideline for this controller published in the paper 30 above, which was submitted before this paper.
    • Full text will be available upon request.
    • Full text of a view-only version under "SharedIt" initiative
    • ResearchGate
    • DOI:10.1007/s12555-018-0450-x
    • Springer
    • [Abstract]

  1. Ryo Kikuuwe: “Some Stability Proofs on Proxy-Based Sliding Mode Control,” IMA Journal of Mathematical Control and Information, Vol.35, No.4, pp.1319-1341, December 2018.
    • Full text PDF
    • ResearchGate
    • DOI:10.1093/imamci/dnx030
    • Oxford Academic (free-access article link)
    • Oxford Academic
    • [Abstract]

  1. Myo Thant Sin Aung, Zhan Shi and Ryo Kikuuwe: “A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control,” Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, Vol.140, No.4, Article 041005, April 2018.
    • Full text will be available upon request.
    • ResearchGate
    • ASME Digital Library
    • DOI:10.1115/1.4037732
    • [Abstract]

  1. Ryo Kikuuwe: “A Time-Integration Method for Stable Simulation of Extremely Deformable Hyperelastic Objects,” The Visual Computer, Vol.33, No.10, pp.1335-1346, October 2017.
    • YouTube movie
    • Full text will be available upon request.
    • Full text of a view-only version under "SharedIt" initiative
    • PDF of the author's version
    • ResearchGate
    • Springer
    • DOI:10.1007/s00371-016-1225-0
    • [Abstract]

  1. Myo Thant Sin Aung and Ryo Kikuuwe: “Stability Enhancement of Admittance Control with Acceleration Feedback and Friction Compensation,” Mechatronics, Vol.45, pp.110-118, August 2017.
    • Full text will be available upon request.
    • PDF of the authors' version
    • ResearchGate
    • Elsevier
    • DOI:10.1016/j.mechatronics.2017.06.011
    • [Abstract]

  1. Masayoshi Iwatani and Ryo Kikuuwe: “Some Improvements in Elastoplastic Friction Compensator,” SICE Journal of Control, Measurement, and System Integration, Vol.10, No.3, pp.141-148, May 2017.
    • Full text PDF.
    • DOI:10.9746/jcmsi.10.141
    • J-Stage (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe and Bernard Brogliato: “A New Representation of Systems with Frictional Unilateral Constraints and Its Baumgarte-Like Relaxation,” Multibody System Dynamics, Vol.39, No.3, pp.267-290, March 2017.
    • Full text will be available upon request.
    • Full text of a view-only version under "SharedIt" initiative
    • PDF of the authors' version
    • ResearchGate
    • Springer
    • DOI:10.1007/s11044-015-9491-6
    • [Abstract]

  1. Masayoshi Iwatani and Ryo Kikuuwe: “An Identification Procedure for Rate-Dependency of Friction in Robotic Joints with Limited Motion Ranges,” Mechatronics, Vol.36, pp.36-44, June 2016.
    • Full text will be available upon request.
    • PDF of the authors' version
    • ResearchGate
    • Elsevier
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “Implicit Euler Simulation of One-Dimensional Burridge-Knopoff Model of Earthquakes with Set-Valued Friction Laws,” Advances in Computational Mathematics, Vol.41, No.6, pp.1039-1057, December 2015.
    • Full text will be available upon request.
    • ResearchGate
    • Springer
    • [Abstract]

  1. Ryo Kikuuwe, Katsuya Kanaoka, Tomohiro Kumon and Motoji Yamamoto: “Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter,” IEEE Transactions on Control Systems Technology, Vol.23, No.6, pp.2182-2194, October 2015.
    • YouTube movies: movie1, movie2
    • Full text will be available upon request.
    • PDF of the authors' version
    • ResearchGate
    • IEEE Xplore
    • [Abstract]

  1. Myo Thant Sin Aung, Ryo Kikuuwe and Motoji Yamamoto: “Friction Compensation of Geared Actuators with High Presliding Stiffness,” Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, Vol.137, No.1, Article 011007, January 2015.
    • YouTube movie
    • Full text will be available upon request.
    • ResearchGate
    • ASME Digital Library
    • [Abstract]

  1. Ryo Kikuuwe: “A Sliding-Mode-Like Position Controller for Admittance Control with Bounded Actuator Force,” IEEE/ASME Transactions on Mechatronics, Vol.19, No.5, pp.1489-1500, October 2014.
    • Full text will be available upon request.
    • PDF of the author's version
    • ResearchGate
    • IEEE Xplore
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Improving Velocity Feedback for Position Control by Using a Discrete-Time Sliding Mode Filtering with Adaptive Windowing,” Advanced Robotics, Vol.28, No.14, pp.943-953, July 2014.
    • Full text will be available upon request.
    • ResearchGate
    • Taylor & Francis Group
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “A Contact Force Model with Nonlinear Compliance and Residual Indentation,” Transactions of ASME: Journal of Applied Mechanics, Vol.81, No.2, Article 021003, February 2014.
    • Full text will be available upon request.
    • ResearchGate
    • ASME Digital Library
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “A Multistate Friction Model Described by Continuous Differential Equations,” Tribology Letters, Vol.51, No.3, pp.513-523, September 2013.
    • Full text will be available upon request.
    • ResearchGate
    • Springer
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “A Differential-Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations,” Journal of Applied Mathematics, Vol.2013, Article 320276, May 2013.
    • [YouTube]
    • Full text PDF
    • Hindawi (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe: “Alternative Proofs of Four Stability Properties of Rigid Link Manipulators under PID Position Control,” Robotica, Vol.31, No.1, pp.113-122, January 2013.
    • Full text PDF
    • ResearchGate
    • Cambridge Journal Online
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics,” Journal of Control Science and Engineering, Vol.2012, Article 923679, December 2012.
    • Full text PDF
    • Hindawi (Open Access)
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Advanced Robotics, Vol.26, No.8-9, pp.877-896, July 2012.
    • Awarded with Advanced Robotics Best Paper Award.
    • Full text will be available upon request.
    • ResearchGate
    • Taylor & Francis Group
    • [Abstract]

  • Ryo Kikuuwe, Kenta Nakamura and Motoji Yamamoto: “Finger-Mounted Tactile Sensor for Evaluating Surfaces,” Journal of Robotics and Mechatronics, Vol.24, No.3, pp.430-440, June 2012.
    • This is a translated paper. The original version (in Japanese) is found here.
    • ResearchGate
    • DOI:10.20965/jrm.2012.p0430
    • Fuji Technology Press (Open Access)
    • [Abstract]

  1. Ryo Kikuuwe, Satoshi Yasukouchi, Hideo Fujimoto and Motoji Yamamoto: “Proxy-Based Sliding Mode Control: A Safer Extension of PID Position Control,” IEEE Transactions on Robotics, Vol.26, No.4, pp.670-683, August 2010.
    • What is Proxy-Based Sliding Mode Control?
    • Full text will be available upon request.
    • PDF of the authors' version
    • [IEEE Copyright Policy (Section 8.1.9 of IEEE PSPB Operations Manual)]
    • IEEE Xplore
    • [Abstract]

  1. Ryo Kikuuwe, Hiroaki Tabuchi and Motoji Yamamoto: “An Edge-Based Computationally Efficient Formulation of Saint Venant-Kirchhoff Tetrahedral Finite Elements,” ACM Transactions on Graphics, Vol.28, No.1, pp.8:1-8:13, January 2009.
    • [Movie 1] [Movie 2]
    • Full text will be available upon request.
    • PDF of the authors' version
    • ResearchGate
    • ACM Digital Library
    • [Abstract]
    • This paper was presented at SIGGRAPH 2009.
    • The travel expense for attending SIGGRAPH 2009 was partially supported by The Murata Science Foundation.

  1. Ryo Kikuuwe, Naoyuki Takesue and Hideo Fujimoto: “A Control Framework to Generate Nonenergy-Storing Virtual Fixtures: Use of Simulated Plasticity,” IEEE Transactions on Robotics, Vol.24, No.4, pp.781-793, August 2008.
    • PDF file
    • IEEE Xplore
    • [Abstract]

  1. Ryo Kikuuwe, Takahiro Yamamoto and Hideo Fujimoto: “A Guideline for Low-Force Robotic Guidance for Enhancing Human Performance of Positioning and Trajectory Tracking: It Should Be Stiff and Appropriately Slow,” IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, Vol.38, No.4, pp.945-957, July 2008.
    • How slow should a robot be?: Physics of human-robot coordination.
    • PDF file
    • IEEE Xplore
    • [Abstract]

  • Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama, Ryo Kikuuwe, Taiki Ishiguro and Hideo Fujimoto: “Analysis and Experiment of Helical Spring-Type Pressure and Shear Sensor,” Journal of System Design and Dynamics, Vol.1, No.3, pp.629-637, August 2007.
    • Full text PDF
    • This is a translated paper. The original version (in Japanese) is found here.
    • J-Stage
    • [Abstract]

  1. Ryo Kikuuwe, Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama and Hideo Fujimoto: “Admittance and Impedance Representations of Friction Based on Implicit Euler Integration,” IEEE Transactions on Robotics, Vol.22, No.6, pp.1176-1188, December 2006.
    • PDF file
    • IEEE Xplore
    • [Abstract]

  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Recognizing Object Surface Properties Using Impedance Perception,” Robotica, Vol.23, No.3, pp.387-396, May 2005.
    • Full text will be available upon request.
    • ResearchGate
    • Cambridge University Press
    • [Abstract]

  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Robot Perception of Impedance,” Journal of Robotic Systems, Vol.22, No.5, pp.231-247, May 2005.
    • Full text will be available upon request.
    • ResearchGate
    • Wiley InterScience
    • DOI:10.1002/rob.20062
    • [Abstract]

  1. Ryo Kikuuwe, Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue and Hideo Fujimoto: “Enhancing Haptic Detection of Surface Undulation,” ACM Transactions on Applied Perception, Vol.2, No.1, pp.46-67, January 2005.
    • This paper presents a "Tactile Contact Lens," which is a simple monolithic device to enhance the human tactile sense in a particular way. We got some awards for this invention.
    • Full text will be available upon request.
    • PDF of the authors' version
    • ACM Digital Library
    • [Abstract]

Conference Papers (reviewed)

  1. Yachen Zhang and Ryo Kikuuwe:“Solving Technical Difficulties in Implementing Teleoperated Biped Walking on NAO Robot,” Proceedings of the 16th IEEE/SICE International Symposium on System Integration (SII2024), pp.1308-1313, January 2024 (Ha Long, Vietnam).

  1. Yuki Yamamoto and Ryo Kikuuwe:“End-Effector Position Estimation and Control of Hydraulic Excavators with Total Stations,” Proceedings of the 16th IEEE/SICE International Symposium on System Integration (SII2024), pp.345-350, January 2024 (Ha Long, Vietnam).
  2. Ryo Nishimoto and Ryo Kikuuwe: “Position-Commanding Anti-Sway Controller for Human-Operated Overhead Cranes,” a position paper presented at SICE Annual Conference 2022 (SICE 2022), September 2022 (Kumamoto, Japan).
  3. Shih-Ming Wang and Ryo Kikuuwe: “Neural Encoding of Mass Matrices of Articulated Rigid-body Systems in Cholesky-Decomposed Form,” Proceedings of the 23rd IEEE International Conference on Industrial Technology (ICIT 2022), August 2022.
  4. Tomoya Ando, Tomofumi Watari and Ryo Kikuuwe: “Reference ZMP Generation for Teleoperated Bipedal Robots Walking on Non-Flat Terrains,” Proceedings of the 2021 IEEE/SICE International Symposium on System Integration (SII 2021), pp.794-800, January 2021.
  5. Rafael Cisneros, Mehdi Benallegue, Ryo Kikuuwe, Mitsuharu Morisawa, and Fumio Kanehiro: “Reliable Chattering-free Simulation of Friction Torque in Joints Presenting High Stiction,” Proceedings of the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), pp.6318-6325, October 2020 (Las Vegas, USA).
  6. Shota Sekiguchi and Ryo Kikuuwe: “A Stable Algorithm for Unsolvable Inverse Kinematics of a Class of Six-DoF Manipulators,” Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII 2020), pp.164-169, January 2020 (Hawaii, USA).
  7. Tomoya Ando, Tomofumi Watari and Ryo Kikuuwe: “Master-Slave Bipedal Walking and Semi-Automatic Standing Up of Humanoid Robots,” Proceedings of the 2020 IEEE/SICE International Symposium on System Integration (SII 2020), pp.360-365, January 2020 (Hawaii, USA).
  8. Ryo Kikuuwe, Rainhart Pasaribu and Gyuho Byun: “A First-Order Differentiator with First-Order Sliding Mode Filtering,” IFAC-PapersOnLine, Vol. 52, Issue 16, Pages 771-776, 2019.
  9. Ryo Kikuuwe: “Anti-Noise and Anti-Disturbance Properties of Differential-Algebraic Relaxation Applied to a Set-Valued Controller,” Proceedings of the 15th International Workshop on Variable Structure Systems and Sliding Mode Control (VSS18), pp.480-485, July 2018 (Graz, Austria).
  10. Nehal Baiomy and Ryo Kikuuwe: “An LMI-based Parameter Selection Procedure for an Amplitude- and Rate- Saturated Controller,” Proceedings of the 2018 SICE International Symposium on Control Systems, pp.54-60, March 2018 (Tokyo, Japan)
  11. Soe Lin Paing, Myo Thant Sin Aung and Ryo Kikuuwe: “Adaptive Gain Parabolic Sliding Mode Filter Augmented with Vibration Observer,” 1st IEEE Conference on Control Technology and Applications, pp.602-607, August 2017 (Hawaii, USA).
  12. Ryo Kikuuwe and Kahhaw Hoo: “A Viscoelastic Tyre Friction Model Based on a Partial Differential-Algebraic Inclusion,” Proceedings in EUROMECH Colloquium 578: Rolling Contact Mechanics for Multibody System Dynamics, April 2017 (Madeira, Portugal). (abstract reviewed)
  13. Rafael Cisneros, Ryo Kikuuwe, Shin'ichiro Nakaoka and Fumio Kanehiro: “Stable Simulation of Flexible Cable-Like Objects by Using Serial Kinematic Chains with High Number of Passive Degrees-of-Freedom," In Proceedings of 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2016), pp.119-126, December 2016 (San Francisco, USA).
  14. Masayoshi Iwatani and Ryo Kikuuwe: “An Elastoplastic Friction Force Estimator and Its Application to External Force Estimation and Force Sensorless Admittance Control,” In Proceedings of 2016 IEEE/SICE International Symposium on System Integration (SII2016), pp.45-50, December 2016 (Sapporo, Japan).
  15. Masayoshi Iwatani and Ryo Kikuuwe: “An External Force Estimator Using Elastoplastic Friction Model With Improved Static Friction Behavior,” In Proceedings of 14th International Conference on Control, Automation, Robotics and Vision (ICARCV2016), Tu42.6, 2016 (Phuket, Thailand).
  16. Masayoshi Iwatani and Ryo Kikuuwe: “An Elastoplastic Friction Compensator with Improved Static Friction Behavior,” In Proceedings of SICE Annual Conference 2016 (SICE2016), pp.1091-1097, September 2016 (Tsukuba, Japan).
  17. Naoki Wakisaka, Ryo Kikuuwe and Tomomichi Sugihara: “Fast Forward Dynamics Simulation of Robot Manipulators with Highly Frictional Gears,” In Proceedings of 2016 International Conference on Robotics and Automation (ICRA2016), pp.2096-2101, May 2016 (Stockholm, Sweden).
  1. Myo Thant Sin Aung and Ryo Kikuuwe: “Acceleration Feedback and Friction Compensation for Improving Positioning Performance in Systems with Friction,” the 2015 American Control Conference (ACC2015), pp.4798-4803, July 2015 (Chicago, USA).
    • IEEE Xplore
    • [Abstract]
  2. Masayoshi Iwatani and Ryo Kikuuwe: “An Identification Procedure for Rate-Dependent Friction Laws of Robotic Manipulator with Limited Motion Range,” In Proceedings of the 10th Asian Control Conference (ASCC2015), pp.526-530, June 2015 (Kota Kinabalu, Malaysia).
    • IEEE Xplore
    • [Abstract]
  3. Myo Thant Sin Aung and Ryo Kikuuwe: “Acceleration Feedback and Friction Compensation for Improving the Stability of Admittance Control,” In Proceedings of the 10th Asian Control Conference (ASCC2015), pp.404-409, June 2015 (Kota Kinabalu, Malaysia).
    • IEEE Xplore
    • [Abstract]
  4. Myo Thant Sin Aung, Zhan Shi, Ryo Kikuuwe: “A New Noise-Reduction Filter with Sliding Mode and Low-Pass Filtering,” In Proceedings of the 2014 IEEE Conference on Control Applications (CCA), pp.1029-1034, October 2014 (Antibes/Nice, France).
    • IEEE Xplore
    • [Abstract]
  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “Backward-Euler Discretization of Second-Order Sliding Mode Control and Super-Twisting Observer For Accurate Position Control,” In Proceedings of the 2013 ASME Dynamic Systems and Control Conference (DSCC 2013), Paper No. DSCC2013-3872, October 2013 (Palo Alto, California, USA).
    • [DSCC2013]
    • ASME Digital Library
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Discrete-time Velocity Estimator Based on Sliding Mode and Adaptive Windowing,” In Proceedings of the 2012 IEEE/SICE International Symposium on System Integration (SII 2012), pp.835-841, December 2012 (Fukuoka, Japan).
    • IEEE Xplore
    • [Abstract]
  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “A Differential-Algebraic Multistate Friction Model,” In Simulation, Modeling, and Programming for Autonomous Robots, Lecture Notes in Computer Science, vol. 7628, Itsuki Noda, Noriaki Ando, Davide Brugali and James J. Kuffner (Eds.), Springer, pp.77-88, 2012. (Proceedings of SIMPAR2012, November 2012, Tsukuba, Japan)
    • Springer
    • [SIMPAR2012]
    • [Abstract]
  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto: “A Differential-Algebraic Contact Model with Nonlinear Compliance,” In Proceedings of the 2012 ASME Dynamic Systems and Control Conference (DSCC/MOVIC 2012), pp. 377-383, October 2012 (Fort Lauderdale, Florida, USA).
    • ASME Digital Library
    • [Abstract]
  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Improved Velocity Feedback for Position Control by Using a Quadratic Sliding Mode Filter,” In Proceedings of the 11th International Conference on Control, Automation and Systems (ICCAS 2011), pp.1207-1212, October 2011 (Goyang, Korea).
  2. Ryo Kikuuwe: “Semiglobally Strictly Passive Two-Port Network Representation of Rigid Link Manipulator Under PID Trajectory-Tracking Control,” In Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), pp.3529-3535, December 2010 (Atlanta, USA).
  3. Ryo Kikuuwe and Motoji Yamamoto: “A Modular Software Architecture for Simulating Mechanical Systems Involving Coulomb Friction Integrable By the Runge-Kutta Method,” In Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp.2277-2282, September 2008 (Nice, France).
    • [pdf file]
  4. Ryo Kikuuwe, Naoyuki Takesue and Hideo Fujimoto: “Passive Virtual Fixtures Based on Simulated Position-Dependent Anisotropic Plasticity,” In Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), pp.3263-3268, April 2007 (Rome, Italy).
    • [pdf file]
  1. Ryo Kikuuwe and Hideo Fujimoto: “Incorporating Geometric Algorithms in Impedance- and Admittance-Type Haptic Rendering,” In Proceedings of the Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics Conference 2007), pp.249-254, March 2007 (Tsukuba, Japan).
    • [pdf file]

  1. Ryo Kikuuwe, Takahiro Yamamoto and Hideo Fujimoto: “Velocity-Bounding Stiff Position Controller,” In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp.3050-3055, October 2006 (Beijing, China).
    • [pdf file]

  1. Ryo Kikuuwe, Yu Kobayashi and Hideo Fujimoto: “Coulomb-Friction-Based Needle Insertion/Withdrawal Model and Its Discrete-Time Implementation,” In Proceedings of EuroHaptics 2006, pp.207-212, July 2006 (Paris, France).
    • [pdf file]
    • [Abstract]

  1. Ryo Kikuuwe and Hideo Fujimoto: “Proxy-Based Sliding Mode Control For Accurate and Safe Position Control,” In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA 2006), pp.25-30, May 2006 (Orlando, USA).
    • [pdf file]
  2. Ryo Kikuuwe, Takahiro Yamamoto and Hideo Fujimoto: “Low-Force Kinesthetic Guidance For Accurate Positioning and Tracking,” In Proceedings of the 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (Haptics 2006), pp.491-498, March 2006 (Alexandria, Virginia, USA).
    • [pdf file]
    • [pdf of the poster at the conference site]
  3. Ryo Kikuuwe, Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama and Hideo Fujimoto: “Fixed-Step Friction Simulation: From Classical Coulomb Model to Modern Continuous Models,” In Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp.3910-3917, August 2005 (Edmonton, Canada).
    • [pdf file]
  4. Ryo Kikuuwe, Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Kunihiro Tsunekawa, Sotaro Suzuki and Hideo Fujimoto: “The Tactile Contact Lens,” In Proceedings of the 3rd IEEE Conference on Sensors (SENSORS 2004), pp.535-539, October 2004 (Vienna, Austria).
    • [pdf file]
  1. Ryo Kikuuwe, Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue and Hideo Fujimoto: “A Tactile Sensor Capable of Mechanical Adaptation and Its Use as a Surface Deflection Detector,” In Proceedings of the 3rd IEEE Conference on Sensors (SENSORS 2004), pp.256-259, October 2004 (Vienna, Austria).
    • [pdf file]

  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Recognizing Cylindrical Surface Using Impedance Perception,” In Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp.19-24, October 2003 (Las Vegas, USA).
    • [pdf file]
  2. Ryo Kikuuwe and Tsuneo Yoshikawa: “Recognizing Surface Properties Using Impedance Perception,” In Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), pp.1539-1544, September 2003 (Taipei, Taiwan).
    • [pdf file]
  3. Ryo Kikuuwe and Tsuneo Yoshikawa: “Robot Perception of Environment Impedance,” In Proceedings of 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), pp.1661-1666, May 2002 (Washington DC, USA).
    • [pdf file]
  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Haptic Display Device with Fingertip Presser for Motion/Force Teaching to Human,” In Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001), pp.868-873, May 2001 (Seoul, Korea).
    • [pdf file]

Preprints

Presentations and Seminars

Patents

Awards

  1. Advanced Robotics Best Paper Award, 2013: for“Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto.
  2. Young Investigator Excellence Award (from The Robotics Society of Japan), 2005.
  3. Certificate of Merit for ROBOMEC Outstanding Research Activity (from Robotics and Mechatronics Division, The Japan Society of Mechanical Engineers), 2005: for “Tactile Contact Lens -- Basic Concept,” Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Ryo Kikuuwe, Kunihiro Tsunekawa and Hideo Fujimoto.
  4. Shorei-Sho (from Chubu Chapter of The Society of Instrument and Control Engineers, Japan), 2005.
  5. Best Technical Exhibition Award (The 2004 1st IEEE Technical Exhibition-Based Conference on Robotics and Automation, TExCRA2004), 2004: for “TouchLens: Touch Enhancing Tool,” Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Ryo Kikuuwe and Hideo Fujimoto.
  6. Good Design Award (Japan Industrial Design Promotion Organization), 2004: for “TouchLens,” Hideo Fujimoto and Toyota Motor Corporation (Producers), Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Ryo Kikuuwe and Kunihiro Tsunekawa (Designers).

Dissertation

  • Ryo Kikuuwe: “Impedance Perception of Robots and Skill Transfer to Humans Based on Position and Force Information,” Kyoto University, 2003.

Kikuuwe's Homepage