| 2011 | ICRA | Improvement of the oral cavity and finger mechanisms and implementation of a Pressure-Pitch Control System for the Waseda Saxophonist Robot. | Jorge Solis, Klaus Petersen, Masaki Takeuchi, Takafumi Kusano, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto |
| 2011 | RO-MAN | Towards high-level, cloud-distributed robotic telepresence: Concept introduction and preliminary experiments. | Klaus Petersen, Kotaro Fukui, Zhuohua Lin, Nobutsuna Endo, Kazuki Ebihara, Hiroyuki Ishii, Massimiliano Zecca, Atsuo Takanishi, Tamim Asfour, Rdiger Dillmann |
| 2010 | IROS | Implementation of an Overblowing Correction Controller and the proposal of a quantitative assessment of the sound's pitch for the anthropomorphic saxophonist robot WAS-2. | Jorge Solis, Klaus Petersen, Tetsuro Yamamoto, Masaki Takeuchi, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto |
| 2010 | ICRA | Mechanism design and air pressure control system improvements of the Waseda Saxophonist Robot. | Jorge Solis, Klaus Petersen, Tetsuro Yamamoto, Masaki Takeuchi, Shimpei Ishikawa, Atsuo Takanishi, Kunimatsu Hashimoto |
| 2009 | ICRA | Development of the anthropomorphic saxophonist robot WAS-1: Mechanical design of the lip, tonguing, fingers and air pump mechanisms. | Klaus Petersen, Jorge Solis, Takeshi Ninomiya, Tetsuro Yamamoto, Masaki Takeuchi, Atsuo Takanishi |
| 2009 | IROS | Development of a aural real-time rhythmical and harmonic tracking to enable the musical interaction with the Waseda Flutist Robot. | Klaus Petersen, Jorge Solis, Atsuo Takanishi |
| 2009 | IROS | Development of anthropomorphic musical performance robots: From understanding the nature of music performance to its application to entertainment robotics. | Jorge Solis, Klaus Petersen, Takeshi Ninomiya, Masaki Takeuchi, Atsuo Takanishi |
| 2008 | IROS | Development of a real-time instrument tracking system for enabling the musical interaction with the Waseda Flutist Robot. | Klaus Petersen, Jorge Solis, Atsuo Takanishi |
| 2008 | RO-MAN | Toward enabling a natural interaction between human musicians and musical performance robots: Implementation of a real-time gestural interface. | Klaus Petersen, Jorge Solis, Atsuo Takanishi |
| 2008 | RO-MAN | Improved musical performance control of WF-4RIV: Implementation of an expressive music generator and an automated sound quality detection. | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Klaus Petersen, Tetsuro Yamamoto, Atsuo Takanishi |