| 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 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 | ICRA | Development of Waseda flutist robot WF-4RIV: Implementation of auditory feedback system. | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Tetsuro Yamamoto, 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 |
| 2007 | IROS | Musical skills of the waseda flutist robot WF-4RIV. | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Tetsuro Yamamoto, Akiko Sato, Atsuo Takanishi |
| 2007 | IROS | The Waseda Flutist Robot No 4 refined IV: enhancing the sound clarity and the articulation between notes by improving the design of the lips and tonguing mechanisms. | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Tetsuro Yamamoto, Atsuo Takanishi |
| 2007 | ICRA | Implementation of Expressive Performance Rules on the WF-4RIII by modeling a professional flutist performance using NN. | Jorge Solis, Kei Suefuji, Koichi Taniguchi, Takeshi Ninomiya, Maki Maeda, Atsuo Takanishi |
| 2007 | RO-MAN | Towards an expressive performance of the Waseda Flutist Robot: Production of Vibrato. | Jorge Solis, Koichi Taniguchi, Takeshi Ninomiya, Atsuo Takanishi |