| 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 | RO-MAN | Introduction of mechatronics to undergraduate students based on robotic platforms for education purposes. | Jorge Solis, Ryu Nakadate, Tetsuro Yamamoto, 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 |