2023
- Kazashi Nakano, Megu Gunji, Masahiro Ikeda, Keung Or, Mitsuhito Ando, Katsuma Inoue, Hiromi Mochiyama, Kohei Nakajima, Ryuma Niiyama, Yasuo Kuniyoshi, ““RobOstrich” Manipulator: A Novel Mechanical Design and Control Based on the Anatomy and Behavior of an Ostrich Neck,” in IEEE Robotics and Automation Letters, vol. 8, no. 5, pp. 3062-3069, May 2023, doi: 10.1109/LRA.2023.3265301.
- Yuki Endo, Keisuke Yagi, Yoshikazu Mori, Toshinobu Takei & Hiromi Mochiyama: Tele-Snap: a joint impedance estimation system using snap motor and openPose for remote rehabilitation diagnosis, Advanced Robotics, 37-8, 528-539, 2023.
- M. Kennard, K. Yagi, M. Hassan, H. Kadone, H. Mochiyama and K. Suzuki, “Variable-Damper Control Using MR Fluid for Lower Back Support Exoskeleton,” in IEEE/ASME Transactions on Mechatronics, vol. 28, no. 1, pp. 579-587, Feb. 2023, doi: 10.1109/TMECH.2022.3196098.
2022
- Y. Nishimura, S. Takahashi, H. Mochiyama and T. Yamaguchi, “Automated Hammering Inspection System With Multi-Copter Type Mobile Robot for Concrete Structures,” in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 9993-10000, Oct. 2022, doi: 10.1109/LRA.2022.3191246.
- Kenji Misu, Masahiro Ikeda, Keung Or, Mitsuhito Ando, Megu Gunji, Hiromi Mochiyama, Ryuma Niiyama: Robostrich Arm: Wire-Driven High-DOF Underactuated Manipulator, JOURNAL OF ROBOTICS AND MECHATRONICS/34(2:SI)/pp.328-338, 2022-04
- Mochiyama Hiromi; Gunji Megu; Niiyama And Ryuma: Ostrich-Inspired Soft Robotics: A Flexible Bipedal Manipulator for Aggressive Physical Interaction, JOURNAL OF ROBOTICS AND MECHATRONICS/34(2:SI)/pp.212-218, 2022-04
2021
- M. Ando, R. Tokumine, T. Takei and H. Mochiyama, “Tactile Scanning for Detecting Micro Bump by Strain-Sensitive Artificial Skin,” in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 7541-7548, Oct. 2021, doi: 10.1109/LRA.2021.3098473.
- Misu, Kenji; Mochiyama, Hiromi: Arched snap motor: power flow analysis, ADVANCED ROBOTICS, 35(18), pp.1107-1115, 2021.
- K. Arakawa, F. Giorgio-Serchi and H. Mochiyama, “Snap Pump: A Snap-Through Mechanism for a Pulsatile Pump,” in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 803-810, April 2021, doi: 10.1109/LRA.2021.3052416.
- Yagi, K., Mori, Y., Mochiyama, H.: Force-sensorless human joint impedance estimation utilizing impulsive force, Advanced Robotics, Vol.35, No.6, pp.349-358, 2021-03
- Takei, T., Ni’izeki, T., Ando, M., Mochiyama, H., Imanishi, E., Fujimoto, H.: Spiral coil beneath fingertip enhances tactile sensation while tracing surface with small undulations, Advanced Robotics, Vol.35, No.5, pp.295-307, 2021-03.
2020
- Sakai, Y., Takesue, N., Mochiyama, H.: Compact swimming robot with continuum water jet nozzle for rapid turns, Proceedings of 21st IFAC World Congress 2020, 53(2), pp.9181-9188, 2020-07.
- Mochiyama, H.: The Elastic Rod Approach toward System Theory for Soft Robotics, Proceedings of 21st IFAC World Congress 2020, 53(2), pp.9175-9180, 2020-07.
- Ando, M., Takei, T., Mochiyama, H.: Rubber artificial skin layer with flexible structure for shape estimation of micro-undulation surfaces, ROBOMECH Journal, 7:11, 12 pages, 2020-03.
2019
- M. Hassan, M. Kennard, K. Yagi, H. Kadone, H. Mochiyama and K. Suzuki: MRLift: a Semi-active Lower Back Support Exoskeleton based on MR Fluid and Force Retention Technology, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), 6 pages, Macau, China, November 4-8, 2019.
- Mochiyama, H., Ando, M., Misu, K., Kuroyanagi, T.: A Study of Potential Social Impacts of Soft Robots with Organic and Edible Bodies by Observation of an Artwork, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO), pp.208-212, 2019-10.
- M. Hassan, K. Yagi, H. Kadone, T. Ueno, H. Mochiyama, and K. Suzuki: Optimized Design of a Variable Viscosity Link for Robotic AFO, Proceedings of the 41th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’19), 4 pages, 2019.07.
- K. Yagi and H. Mochiyama: Human Wrist Impedance Estimation based on Impulse Response Induced by Snap-Through Buckling of Closed-Elastica, Proceedings of the 41th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’19), 5 pages, 2019-07.
- T. Masaki, M. Ando, T. Takei, H. Fujimoto and H. Mochiyama: Surface Undulation Detection System Using Wearable Artificial Skin Layer with Strain Gauge, Proceedings of the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft2019), pp.617-622, 2019-04.
2018
- T. Takei, M. Ando and H. Mochiyama, Wearable artificial skin layer for the reconstruction of touched geometry by morphological computation, Advanced Robotics, Vol.32, No.21, pp.1122-1134, October 2018.
- N. Nakagawa, H. Mochiyama: Real-time Shape Estimation of an Elastic Rod using a Robot Manipulator equipped with a Sense of Force, Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp.8067-8073, 2018-10.
- K. Misu, A. Yoshii, H. Mochiyama: A Compact Wheeled Robot That Can Jump while Rolling, Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), pp.7507-7512, 2018-10.
- K. Yagi, K. Suzuki and H. Mochiyama, Human Joint Impedance Estimation With a New Wearable Device Utilizing Snap-Through Buckling of Closed-Elastica, IEEE Robotics and Automation Letters, Vol.3, Issue 3, pp.1506-1513, July 2018.
2017
- K. Hsiao and H. Mochiyama, A Wire-driven Continuum Manipulator Model without assuming Shape Curvature Constancy, Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), pp.436-433, Vancouver, Canada, September 24–28, 2017.
- K. Yagi, H. Mochiyama, On the Determination of Mapping Rule and Sampling Interval for Human Joint Impedance Estimation, Proceedings of the SICE Annual Conference 2017 (SICE2017), pp.1357-1362, Kanazawa, Japan, September 19-22, 2017.
- R. Takano, H. Mochiyama and N. Takesue, Real-time Shape Estimation of Kirchhoff Elastic Rod Based on Force/Torque Sensor, Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA2017), pp.2508-2515, Singapore, May 29 – June 3, 2017.
2016
- M. Ando, H. Mochiyama, T. Takei, H. Fujimoto, Effect of the Tactile Contact Lens on the Rubber Artificial Skin Layer with a Strain Gauge,Proceeding of the 2016 IEEE/SICE International Symposium on System Integration,pp.397-402, Sapporo, Japan, December 13-15, 2016.
- M. Ando, H. Mochiyama, T. Takei, H. Fujimoto, On a Haptic Phenomenon by Combined Use of the Rubber Artificial Skin Layer with a Strain Gauge and the Tactile Contact Lens,Haptic Interaction: Science, Engineering and Design, Proceedings of the 2nd International Conference, AsiaHaptics2016, pp.309-314, Kashiwanoha, Tokyo, Japan, November 29 – December 1, 2016. (*The lecture notes including this conference paper was published in 2018)
- H. Mochiyama, Model Validation of Discretized Spatial Closed Elastica, Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016), pp.5216-5223, Daejeon, Korea, October 9-14, 2016.
2015
- N. Fukamachi and H. Mochiyama, Palm-top Jumping and Crawling Robot using Snap-through Buckling of Arched Elastica supported by Ω-shaped Frame, Proceedings of the 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM2015), pp.1102/1107, Busan, Korea, July 7-11, 2015.
- T. Hatakeyama and H. Mochiyama, Cooperative String Looping by Dual Shooting Manipulation, Proceedings of the 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM2015), pp.1096/1101, Busan, Korea, July 7-11, 2015.
- H. Mochiyama, H. Nakajima and T. Hatakeyama, Chameleon-like Shooting Manipulator for Accurate 10-meter Reaching, Proceedings of 2015 10th Asian Control Conference (ASCC2015), 7 pages, Kota Kinabalu, Malaysia, May 31 – June 3, 2015.
2014
- D. Watanabe and H. Mochiyama, Shape Computation of Closed Elastica under External Forces, Proceedings of the 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), pp.623-627, Besancon, France, July 8-11, 2014.
- H. Tsuboi, M. Inoue, S. Kuroki, H. Mochiyama and J. Watanabe, Roughness perception of micro-particulate plate: a study on two-size-mixed stimuli, M. Haptics: Neuroscience, Devices, Modeling, and Applications, Proceedings of the 9th International Conference, EuroHaptics 2014, Part I, LNCS 8618, pp.446-452, Versailles, France, June 24-26, 2014.
2013
- H. Mochiyama, A. Kinoshita and R. Takasu, Impulse Force Generator based on Snap-through Buckling of Robotic Closed Elastica: Analysis by Quasi-Static Shape Transition Simulation, Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), pp.4583/4589, Tokyo, Japan, November 3-7, 2013.
- T. Hatakeyama and H. Mochiyama, Shooting Manipulation Inspired by Chameleon, IEEE/ASME Transactions on Mechatronics, Vol.18, No.2, pp.527-535, April 2013.
2012
- T. Tsuda, H. Mochiyama and H. Fujimoto, Quick stair-climbing using snap-through buckling of closed elastica, Proceedings of the 23rd 2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS2012), pp.368-373, Nagoya, Japan, November 4-7, 2012.
- SYOUTA IMAI and HIROMI MOCHIYAMA: BASIC PERFORMANCE OF FLAT KICK-SWIMMING ROBOT POWERED BY IMPULSE FORCE GENERATOR WITH SPATIALLY-DEFORMABLE V-SHAPE ELASTICA, Adaptive Mobile Robotics, pp. 297-304 (2012)
2011
- T. Hatakeyama and H. Mochiyama, “Shooting manipulation system with high reaching accuracy,” 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011, pp. 4652-4657, doi: 10.1109/IROS.2011.6094753.
- Y. Shirato, H. Mochiyama, H. Kobayashi, J. Tatsuno, and H. Kawai, “PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation,” J. Robot. Mechatron., Vol.23 No.3, pp. 393-399, 2011
- A. Yamada, Y. Sugimoto, H. Mochiyama and H. Fujimoto, “An impulsive force generator based on closed elastica with bending and distortion and its application to swimming tasks,” 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, 2011, pp. 957-962, doi: 10.1109/ICRA.2011.5980473.
2010
- H. Mochiyama, Y. Shirato, H. Kobayashi, J. Tatsuno and H. Kawai, “Bio-manipulation with a robotic straw,” 2010 International Symposium on Micro-NanoMechatronics and Human Science, Nagoya, Japan, 2010, pp. 290-295, doi: 10.1109/MHS.2010.5669542.
- A. Yamada, H. Mameda, H. Mochiyama and H. Fujimoto, “A compact jumping robot utilizing snap-through buckling with bend and twist,” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 389-394, doi: 10.1109/IROS.2010.5652928.
2007
- Hiromi Mochiyama, Masamitsu Watari and Hideo Fujimoto, “A robotic catapult based on the closed elastica and Its application to robotic tasks,” 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007, pp. 1508-1513, doi: 10.1109/IROS.2007.4398992.
- H. Mochiyama and H. Fujimoto, “Impact manipulation by a hyper-flexible robotic manipulator,” 2007 IEEE/ASME international conference on advanced intelligent mechatronics, Zurich, Switzerland, 2007, pp. 1-6, doi: 10.1109/AIM.2007.4412543.