| 2025 | IROS | Enhancing Object Search in Indoor Spaces via Personalized Object-Factored Ontologies. | Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata |
| 2025 | RO-MAN | Context-Aware Risk Estimation in Home Environments: A Probabilistic Framework for Service Robots. | Sena Ishii, Akash Chikhalikar, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata |
| 2025 | RO-MAN | A Standing Support Mobility Robot for Enhancing Independence in Elderly Daily Living. | Ricardo Manrquez-Cisterna, Ankit A. Ravankar, Jose V. Salazar Luces, Takuro Hatsukari, Yasuhisa Hirata |
| 2024 | RO-MAN | Enhancing Wheelchair Mobility: Virtual Training System Integrating Lateral Trunk Motion. | Jhedmar Callupe Luna, Selsabil Bougherara, ric Monacelli, Yasuhisa Hirata |
| 2024 | RO-MAN | A B-spline Approach for Improved Environmental Awareness in Virtual Walking System using Avatar Robot. | Alessandra Miuccio, Ricardo Manrquez-Cisterna, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata, Paolo Rocco |
| 2022 | ICRA | Immersive Virtual Walking System Using an Avatar Robot. | Kengkij Promsutipong, Jose V. Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi, Yasuhisa Hirata |
| 2022 | IROS | Development and Control of Robot Hand with Finger Camera for Garment Handling Tasks. | Hirokazu Kondo, Jose Victorio Salazar Luces, Yasuhisa Hirata |
| 2022 | IROS | PSM: A Predictive Safety Model for Body Motion Based On the Spring-Damper Pendulum. | Seyed Amir Tafrishi, Ankit A. Ravankar, Yasuhisa Hirata |
| 2022 | ICRA | A Novel Assistive Controller Based on Differential Geometry for Users of the Differential-Drive Wheeled Mobile Robots. | Seyed Amir Tafrishi, Ankit A. Ravankar, Jose Victorio Salazar Luces, Yasuhisa Hirata |
| 2022 | ISRR | Cooperation of Assistive Robots to Improve Productivity in the Nursing Care Field. | Yasuhisa Hirata, Jose Victorio Salazar Luces, Ankit A. Ravankar, Seyed Amir Tafrishi |
| 2021 | IROS | Robotic Guidance System for Visually Impaired Users Running Outdoors Using Haptic Feedback. | Zhenyu Liao, Jose V. Salazar Luces, Yasuhisa Hirata |
| 2021 | RO-MAN | Use of Human Computation for Coordinating Robotic Mobility Aids Based on User Impairments. | Heikki Saul, Yasuhisa Hirata, Yueh-Hsuan Weng |
| 2020 | RO-MAN | HRI for Legal Validation: On Embodiment and Data Protection. | Yueh-Hsuan Weng, Svetlana Gulyaeva, Jana Winter, Andrei Slavescu, Yasuhisa Hirata |
| 2018 | ICRA | Control of Multiple Passive-Follower Type Robots Based on Feasible Braking Control Region Analysis. | Yasuhisa Hirata, Ken Kimura, Shin Matsuzaki, Naoko Ogawa, Takashi Kubota |
| 2017 | ICRA | Position and orientation control of passive wire-driven motion support system using servo brakes. | Yasuhisa Hirata, Ryo Shirai, Kazuhiro Kosuge |
| 2017 | IROS | Analysis of precision grip force for uGRIPP (underactuated gripper for power and precision grasp). | Akinari Kobayashi, Kengo Yamaguchi, Jun Kinugawa, Shogo Arai, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2017 | ICRA | Human CoG estimation for assistive robots using a small number of sensors. | Mizuki Takeda, Yasuhisa Hirata, Kazuhiro Kosuge, Takahiro Katayama, Yasuhide Mizuta, Atsushi Koujina |
| 2016 | ICRA | Cadence control of cycling wheelchair with Continuously Variable Transmission and servo brake. | Yasuhisa Hirata, Shotaro Ando, Kazuhiro Kosuge |
| 2016 | IROS | Motion guidance using Haptic Feedback based on vibrotactile illusions. | Jos Salazar, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2015 | ICRA | Pedaling assistive control method of cycling wheelchair for hemiplegia patients. | Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2015 | IROS | Underactuated robot hand for dual-arm manipulation. | Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2015 | RO-MAN | Anomaly state assessing of human using walker-type support system based on statistical analysis. | Yasuhisa Hirata, Hiroki Yamaya, Kazuhiro Kosuge, Atsushi Koujina, Tomohiro Shirakawa, Takahiro Katayama |
| 2014 | ICRA | Power steering and force display controls for a cycling wheelchair using servo brakes. | Yasuhisa Hirata, Kazuhiro Kosuge, ric Monacelli |
| 2014 | ICRA | Assistance control method for one-leg pedaling motion of a cycling wheelchair. | Aya Kaisumi, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2014 | ICRA | Generating human motion transition map in indoor environment and analyzing human behavior by geographical clustering. | Yuji Ogawa, Zhi Dong Wang, Tetsuya Wada, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2014 | IROS | Pose estimation of servo-brake-controlled caster units arbitrarily located on a mobile base. | Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2013 | ICRA | Regenerative brake control of cycling wheelchair with passive behavior. | Yasuhisa Hirata, Kota Kawamata, Kana Sasaki, Aya Kaisumi, Kazuhiro Kosuge, ric Monacelli |
| 2013 | IROS | Steering assist system for a cycling wheelchair based on braking control. | Yasuhisa Hirata, Kazuhiro Kosuge, ric Monacelli |
| 2013 | IROS | Development of robot hand with suction mechanism for robust and dexterous grasping. | Kengo Yamaguchi, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2012 | IROS | Wire-type human support system controlled by servo brakes. | Yasuhisa Hirata, Yuki Tozaki, Kazuhiro Kosuge |
| 2012 | ICRA | Design of parts handling and gear assembling device. | Kengo Yamaguchi, Yasuhisa Hirata, Aya Kaisumi, Kazuhiro Kosuge |
| 2012 | ICRA | Car transportation system grasping two drive wheels. | Naoaki Yonezawa, Koshi Kashiwazaki, Kazuhiro Kosuge, Yasuhisa Hirata, Yusuke Sugahara, Mitsuru Endo, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura |
| 2011 | ICRA | Design of handling device for caging and aligning circular objects. | Yasuhisa Hirata, Aya Kaisumi, Kengo Yamaguchi, Kazuhiro Kosuge |
| 2011 | ICRA | Improvement in the performance of passive motion support system with wires based on analysis of brake control. | Yasuhisa Hirata, Keitaro Suzuki, Kazuhiro Kosuge |
| 2011 | IROS | A car transportation system using multiple mobile robots: ICART II. | Koshi Kashiwazaki, Naoaki Yonezawa, Mitsuru Endo, Kazuhiro Kosuge, Yusuke Sugahara, Yasuhisa Hirata, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura |
| 2011 | IROS | Development of passive type double wheel caster unit based on analysis of feasible braking force and moment set. | Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2011 | ICRA | Levitation control of experimental wing-in-ground effect vehicle along Z axis and about roll and pitch axes. | Yusuke Sugahara, Yusuke Ikeuchi, Ryo Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge, Yukio Noguchi, Satoshi Kikuchi, Yasuaki P. Kohama |
| 2010 | ICRA | Distributed motion control of multiple passive object handling robots considering feasible region of brake control. | Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge |
| 2010 | IROS | Motion control of passive haptic device using wires with servo brakes. | Yasuhisa Hirata, Koki Suzuki, Kazuhiro Kosuge |
| 2010 | IROS | Motion control of passive mobile robot with multiple casters based on feasible braking force and moment. | Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2009 | ICRA | A coordinated control algorithm based on the caster-like motion for a car transportation system -iCART-. | Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Yusuke Sugahara, Kouki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki Nakanishi, Takashi Kanbayashi |
| 2009 | ICRA | Coordinated motion control of multiple passive object handling robots based on environment information. | Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge |
| 2009 | IROS | Motion control of passive mobile robot consisting of casters with servo brakes. | Masao Saida, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2009 | IROS | A path planning method for Dynamic Object Closure by using Random Caging Formation Testing. | Zhi Dong Wang, Hidenori Matsumoto, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2009 | RO-MAN | Development of Intelligent Passive Cane controlled by servo brakes. | Shinji Suzuki, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2008 | ICRA | Handling of a single object by multiple mobile robots based on caster-like dynamics. | Yasuhisa Hirata, Yohei Kume, Zhi Dong Wang, Kazuhiro Kosuge |
| 2008 | ICRA | Variable motion characteristics control of an object by multiple passive mobile robots in cooperation with a human. | Yasuhisa Hirata, Yosuke Ojima, Kazuhiro Kosuge |
| 2008 | IROS | A car transportation system by multiple mobile robots - iCART -. | Mitsuru Endo, Kenji Hirose, Yasuhisa Hirata, Kazuhiro Kosuge, Takashi Kanbayashi, Mitsukazu Oomoto, Kei Akune, Hiroyuki Arai, Hiroyuki Shinoduka, Kouki Suzuki |
| 2008 | IROS | Control of Wearable Walking Helper on slope based on integration of acceleration and GRF information. | Yasuhisa Hirata, Takuya Iwano, Kazuhiro Kosuge |
| 2008 | IROS | Fall prevention control of passive intelligent walker based on human model. | Yasuhisa Hirata, Shinji Komatsuda, Kazuhiro Kosuge |
| 2008 | RO-MAN | Motion control of Wearable Walking support system with accelerometer considering swing phase support. | Yasuhisa Hirata, Takuya Iwano, Masaya Tajika, Kazuhiro Kosuge |
| 2007 | ICRA | Environment Feedback for Robotic Walking Support System Control. | Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2007 | IROS | Active type robotic mobility aid control based on passive behavior. | Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2007 | IROS | Control of passive object handling robot with free joint for reducing human assistive force. | Yasuhisa Hirata, Hamin Song, Zhi Dong Wang, Kazuhiro Kosuge |
| 2007 | IROS | Coordinated motion control of multiple mobile manipulators handling a single object without using force/torque sensors. | Yohei Kume, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2007 | IROS | Collision avoidance based on estimated step of other dance couples for male-type dance partner robot. | Yasuo Sakai, Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2007 | IROS | Dance partner robot cooperative motion generation with adjustable length of dance step stride based on physical interaction. | Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2007 | ICRA | HMM-based Error Recovery of Dance Step Selection for Dance Partner Robot. | Takahiro Takeda, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2007 | ICRA | Control Passive Mobile Robots for Object Transportation - Braking Torque Analysis and Motion Control. | Zhi Dong Wang, Kenta Fukaya, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2006 | IAS | Construction of Human-Robot Cooperating System based on Structure/Motion Model. | Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2006 | ICRA | Motion Control of Intelligent Passive-type Walker for Fall-prevention Function based on Estimation of User State. | Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge |
| 2006 | IROS | Approach in Assisting a Sit-to-Stand Movement Using Robotic Walking Support System. | Oscar Chuy, Yasuhisa Hirata, Zhi Dong Wang, Kazuhiro Kosuge |
| 2006 | IROS | Motion Control of Intelligent Walker based on Renew of Estimation Parameters for User State. | Yasuhisa Hirata, Asami Muraki, Kazuhiro Kosuge |
| 2006 | IROS | Motion Generation for Human-Robot Cooperation considering Range of Joint Movement. | Fumi Seto, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2006 | IROS | HMM-based Error Detection of Dance Step Selection for Dance Partner Robot -MS DanceR-. | Takahiro Takeda, Yasuhisa Hirata, Zhi Dong Wang, Kazuhiro Kosuge |
| 2006 | IROS | Dynamic Object Closure by Multiple Mobile Robots and Random Caging Formation Testing. | Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2005 | ICRA | Motion Control of Passive-type Walking Support System based on Environment Information. | Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge |
| 2005 | IROS | Augmented variable center of rotation in controlling a robotic walker to adapt user characteristics. | Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2005 | IROS | Self-collision avoidance motion control for human robot cooperation system using RoBE. | Fumi Seto, Kazuhiro Kosuge, Yasuhisa Hirata |
| 2005 | IROS | HMM-based dance step estimation for dance partner robot -MS DanceR$. | Takahiro Takeda, Kazuhiro Kosuge, Yasuhisa Hirata |
| 2005 | IROS | An algorithm for testing object caging condition by multiple mobile robots. | Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2005 | IROS | 3D ground adaptive synthetic aperture radar for landmine detection. | Hidenori Yabushita, Mitsuhiko Kanehama, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2004 | ICRA | Handling of an Object by Multiple Mobile Manipulators in Coordination based on Caster-like Dynamics. | Yasuhisa Hirata, Youhei Kume, Takuro Sawada, Zhi Dong Wang, Kazuhiro Kosuge |
| 2004 | IROS | Control of walking support system based on variable center of rotation. | Oscar Chuy, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2004 | IROS | Passive-type intelligent walking support system "RT Walker". | Yasuhisa Hirata, Asami Hara, Kazuhiro Kosuge |
| 2004 | IROS | A pushing leader based decentralized control method for cooperative object transportation. | Zhi Dong Wang, Yugo Takano, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2004 | ICRA | Control a Rigid Caging Formation for Cooperative Object Transportation by Multiple Mobile Robots. | Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2003 | ICRA | Decentralized control of multiple mobile manipulators based on virtual 3-D caster motion for handling an object in cooperation with a human. | Yasuhisa Hirata, Youhei Kume, Zhi Dong Wang, Kazuhiro Kosuge |
| 2003 | IROS | Dance partner robot - Ms DanceR. | Kazuhiro Kosuge, Tomohiro Hayashi, Yasuhisa Hirata, Ryosuke Tobiyama |
| 2003 | IROS | Control multiple mobile robots for object caging and manipulation. | Zhi Dong Wang, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2003 | ICRA | A strategy and a fast testing algorithm for object caging by multiple cooperative robots. | Zhi Dong Wang, Vijay Kumar, Yasuhisa Hirata, Kazuhiro Kosuge |
| 2002 | ICRA | Motion Control of Multiple DR Helpers Transporting a Single Object in Cooperation with a Human Based on Map Information. | Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |
| 2002 | IROS | Decentralized control of multiple mobile manipulators handling a single object in coordination. | Youhei Kume, Yasuhisa Hirata, Zhi Dong Wang, Kazuhiro Kosuge |
| 2001 | ICRA | Map-based Control of Distributed Robot Helpers for Transporting an Object in Cooperation with a Human. | Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |
| 2001 | ICRA | Decentralized Control of Multiple Mobile Robots Transporting a Single Object in Coordination without Using Force/Torque Sensors. | Youhei Kume, Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |
| 2001 | IROS | Manipulation of a large object by multiple DR Helpers in cooperation with a human. | Yasuhisa Hirata, Takeo Takagi, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |
| 2001 | SMC | Control algorithm of dual arms mobile robot for cooperative works with human. | Kazuhiro Kosuge, Hiromu Kakuya, Yasuhisa Hirata |
| 2000 | ICRA | Distributed Robot Helpers Handling a Single Object in Cooperation with a Human. | Yasuhisa Hirata, Kazuhiro Kosuge |
| 2000 | IROS | Coordinated transportation of a single object by multiple mobile robots without position information of each robot. | Yasuhisa Hirata, Kazuhiro Kosuge, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |
| 1999 | ICRA | Motion Control of Multiple Autonomous Mobile Robots Handling a Large Object in Coordination. | Kazuhiro Kosuge, Yasuhisa Hirata, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |
| 1998 | IROS | Handling of a single object by multiple autonomous mobile robots in coordination with body force sensor. | Kazuhiro Kosuge, Tomohiro Oosumi, Yasuhisa Hirata, Hajime Asama, Hayato Kaetsu, Kuniaki Kawabata |