Research Activities
Keigo Watanabe
Mechatronic Systems Laboratory
Department of Intelligent Mechanical Systems
Division of Industrial Innovation Sciences
Graduate School of Natural Science and Technology
Okayama University
August 2009
http://www.sys.okayama-u.ac.jp/
Research/lab08/research lab08.html
–2–
Contents
1.
2.
3.
3.1
3.2
4.
4.1
4.2
4.3
5.
6.
7.
8.
9.
9.1
9.2
10.
11.
Research Topics . . . . . . . . . . . . . .
Journals and Transactions . . . . . . . . .
International Proceedings . . . . . . . . .
Full Paper Review . . . . . . . . . . . . .
(Extended) Abstract Review . . . . . . . .
Books . . . . . . . . . . . . . . . . . . .
Single Work and Collaboration . . . . . . .
Edit and Contribution . . . . . . . . . . .
Assignment . . . . . . . . . . . . . . . .
Reviews . . . . . . . . . . . . . . . . . .
Reports . . . . . . . . . . . . . . . . . . .
Patents . . . . . . . . . . . . . . . . . . .
Conferment Number of Ph.D. Degrees . .
Awards . . . . . . . . . . . . . . . . . . .
Awards to Which Prof. Watanabe is Related
Awards of Other Members . . . . . . . . .
Summary of Results . . . . . . . . . . . .
Biography . . . . . . . . . . . . . . . . .
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1
8
25
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41
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61
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69
70
1. Research Topics
Fault Diagnosis of Dynamic Systems (∼ 1990)
• Fault diagnosis systems based on a model reference adaptive control
• Fault diagnosis systems using the likelihood ratio test and an extended Kalman filter
• Dynamic fault diagnosis systems for a system with actuators and/or sensors failures, in which those are
represented by a jump state due to unknown parameters modeled by a finite Markov chain model
Estimation and Control for Stochastic Systems (∼ 1990)
• Estimation and control for distributed parameters systems and its application to the estimation and control
of air pollutions
• Load frequency control in electric power systems
• Adaptive estimations using Bayesian adaptive method and their applications to the filtering problem of a
helicopter, the autopilot problem of aircraft, inertial navigation systems, and the control and estimation of
flexible structures
• Smoothers (mainly fixed interval smoother, UD decompositions, etc.) and estimation and control of decentralized systems (decentralized filtering, decentralized smoothing, etc.)
• Adaptive prediction control using CARIMA systems (in particular, from the view point of state space approach)
• Proposition of an iterative control method using a weighted least-squares method (by combing the impulse
response model and the weighted least-squares method, and its application to an audio feedback control)
Softcomputing/Artificial Life (1990 ∼)
1. Proposal of Learning Algorithms Using an Extended Kalman Filter
• We showed a method for incorporating an extended Kalman filter as a learning algorithm into multilayered neural networks (NNs), and proved some relationships among perceptron learning, correlative
learning, and the present one.
2. Proposal of Flexible NNs
• We proposed a flexible NN in which the unit parameters for a bipolar or unipolar unit are learned
together with the connection weights, and applied it to a dynamic linearization and adaptive gain
control for nonlinear dynamical systems.
3. Proposal of a Stochastic Fuzzy Control Method
–1–
• In a hypothesis problem for unknown initial values, we proposed a stochastic fuzzy control method in
which the probabilistic density function for the conditional estimation problem was equally distributed
and degenerated as a steady state, and showed a design method as an Min-Max control. In addition,
we applied it for the attitude control of the panel for a satellite, the control of a prismatic joint, and the
rotational control of an omnidirectional mobile robot.
4. Proposal of a Mean-value Based Functional Reasoning
• As a product of stochastic fuzzy control method, we proposed a mean-value based functional reasoning
in which the consequent part is composed of the mean-value for each membership function in the
antecedent part, showed its design method by using a sliding mode method, and also applied it to a
fuzzy NN control of a mobile robot.
5. Proposal of Several Evolutionary Computations
• Proposal of a virus type GA with an introduction of species consideration
• In ES (Evolution Strategy), decomposing the original population into sub-populations, we proposed
a max-mean arithmetical crossover so that the operation is implemented between an elite of the subpopulation and the mean individual of the subpopulation, and showed a mutation operation using the
variance statistics of each subpopulation. We applied it to the numerical solution of an optimal servo
problem, a path planning problem that includes an obstacle avoidance with an inequality constraint,
etc.
• In EP (Evolutionary Programming) that need not use any arithmetical crossover, we proposed a chaotic
mutation approach in which the distribution of candidate solutions for a population is chaotically reset
if the relative diversity to the initial population is less than a threshold, and applied it to an obstacle
avoidance problem in a dynamic environment, a learning of fuzzy NN by using a fuzzy multi-objective
evaluation, etc.
6. Proposal of Runge-Kutta-Gill NN
• We proposed a Runge-Kutta-Gill NN, which is a kind of recurrent NN using the nonlinear dynamical structure, and applied it to the identification problem of a nonlinear dynamical model, where the
method is independent of the sampling width.
Biomimetic Control (1993∼)
1. Proposal of Fuzzy Behavior-Based Control System and Module Learning for Mobile Robots and Manipulators
• We proposed a fuzzy behavior-based control system in which each behavioral element is described by
a simplified fuzzy reasoning and the resultant two reasoning results are competitively coordinated by
using a saturated type nonlinear fusion unit, and applied it to the terminal acquisition problem of a
mobile robot avoiding some obstacles and the similar control problem of a manipulator.
• We extended it to an untrained or time-variant environment by using a module learning that considered
an optimality trained by several behavioral patterns under a prespecified local environment, and showed
its effectiveness through simulations and experiments for a miniature mobile robot.
–2–
• To make the behavioral fusion more effect, we also developed an adaptive fusion method in which the
competitive and cooperative units are adaptively switched depending on the state of the external sensor
signal.
2. Proposal of a Model-Based Adaptive Actor-Critic Method Using Predictive and Simulated Experiences
• By applying a nonlinear kinematic or dynamical model, we developed a model-based adaptive actorcritic system. As a result, we proved that the existing actor-critic methods can be unified by constructing the value function as a current or predictive nonlinear estimator.
• We proposed a model-based adaptive actor-critic method using an actual experience and a simulated
experience. We also extended it to a multi-step method by only using a simulated experience.
3. Cooperative Control of Multiple Nonholonomic Mobile Robots
• In the framework of leader-follower robots, we proposed a decentralized cooperative transportation
system that can realize an omnidirectional motion of the object and avoid any obstacle by applying a
“concept of common object.”
4. Construction of a Neurointerface to Control Nonholonomic Robots Based on Virtual Master-Slave Model
• In order to ease the control of nonholonomic systems, we proposed a method based on the concept of
a virtual master-slave as a design approach to a neurointerface. This is coming from the fact that in a
virtual master-slave method the structure of a master robot need not necessarily be consist with that of
a slave robot. For example, in a problem of nonholonomic mobile robot with two independent driving
wheels, the model of the master robot can be decomposed into an invertible steering model and the
kinematic transformation, and therefore the unique inverse system can be immediately obtained for the
dynamical part. The resultant NN as the inverse system can be also easily constructed for the dynamic
steering model.
Biomimetic Perception (2000∼)
1. NN Based Adaptive Control for a Binocular Tracking Vision System
• We developed a binocular tracking vision system and its intelligent control system. For example,
we constructed an adaptive control system with a strict positive realness for such a tracking vision
(especially, for a gazing tracking), in which some nonlinear dynamical uncertainties are estimated by
using the SoftMax function NN.
2. Control of Mobile Robots and Manipulators by Natural Voice Commands
• To use a natural speech command that sometimes includes fuzzy representation to control a robot,
we proposed a voice recognition method by applying a fuzzy NN and an HMM, in which a keyword
spotter is used to distinguish between out-of-vocabulary and in-vocabulary words, the importance of
a command is taken into account, and the current state of a machine (or robot) is reflected to decide
the next action of the machine. Both English and Japanese versions are developed and an alternative
of more effective training approach to the fuzzy NN was also studied by using PSO (Particle Swarm
Optimization) technique.
–3–
3. Construction of a Perception System Using Expectation Learning and Its Application to Aliasing Problem
• The size of a perception matrix is set by the number of finite memories and the number of sensor
elements. An expectation vector is constructed as the weighted sum of the matrix, where the update
of the matrix is taken by regarding the irradiative vector, generated by multiplying the expectation
vector by any confidence factor, as the latest element. This method was applied to the problem of the
so-called partially observable Markov decision process (POMDP). A method to generate a perceptive
history more nonlinearly was also presented by applying a multi-layered NN. Thus, the perception
control can be applied for several problems such as sensor failures, observation interruptions caused
by any moving objects, aliasing of states, etc.
4. Formulation of a Fuzzy Coach-Player System and Its Application to a Cooperative Control Between Human
and Robot
• We are now continuing to the case of a cooperative task of human and robot by coordinating voice
information and visual information, in particular, a more generalized framework of the cooperative
control between human and robot is being explored by developing a fuzzy coach-player system, in
which human (or operator) and robot are regarded as a coach and a player respectively, just as in a
situation where the coach commands natural languages to the player so as to acquire and improve the
player’s own skill.
• Development of voice based control system for a robotic forceps. Especially, we considered a hierarchical control system for effectively controlling such a robot, and are now developing a control
system for controlling the position and orientation of the forceps in three-dimension by resorting to a
two-dimensional display.
5. Active Tracking of Obstacles by Using a Perceptual Anchoring
• For a practical cluttered environment where there exist multiple static obstacles, other moving objects,
etc., what should be looked for usually by active vision has to be determined so that a mobile robot can
transport an object or reach a destination, while avoiding other obstacles. That is, in order to perform
the gazing control of an active vision, it is important to have a measure of importance for an objective
to be perceived, i.e., to decide what external information (exploration of a destination, avoidance of
a static obstacle, avoidance of a dynamic obstacle, etc.) the robot should focus on currently. In an
anchoring problem, we calculate an important measure as a function of the needed measure and the
anchored value. The anchor with the highest importance value will be selected to be the focus of
attention to perform any obstacle avoidance.
Biomimetic Robots (1998∼)
1. Quadruped Robots
• Up to now, for a quadruped robot, we studied on several aspects: e.g., the kinematic analysis of the
leg, the gate generation, the identification of one leg model using RBFNN, and the fuzzy control of the
ZMP of the body.
• We developed an obstacle avoidance method by using ART (adaptive resonance theory)-NN and multilayered-NN.
–4–
• We also studied an efficient avoidance motion by applying a free-gait generation.
2. Gymnastic Robots
• The conventional horizontal-bar robot cannot be simply controlled by any conventional control methods, because no actuated joints exist at the grasping points between the bar and hands, so that its
dynamics becomes nonholonomic from the dynamical viewpoint of robots. We considered a two-stage
handstand control of Acrobot by using a fuzzy model control method.
• For a rings robot which yields more complex unsteadiness of grasping points, analysis and control have
been performed for 2-link, 3-link and its three-dimensional model to acquire human (i.e., gymnast) skill
as fuzzy rules and to apply it for making any coaching systems.
3. Skilful Motion Control of Redundant Manipulators
• A skillful avoidance motion control of elbow was considered for a seven-degrees-of-freedom robot
manipulator and its teleoperation was also realized through a master-slave manner.
• Moreover, we are now under studying on a skillful exploring motion acquisition in an enclosed-space,
such as pipe etc.
4. Semi-looper Like Worm Type Robots
• We studied a pattern generation of a semi-looper like worm type robot, which is adaptable to the height
direction, according to the change of the radius of a tube.
• A locomotion for a model composed of two to four links is controlled by using a central pattern
generator (CPG) consisting of a network of multiple Van der Pol oscillators.
5. Study on the Generation of Locomotion Patterns for a Bipedal Robot
• By designing a CPG consisting of multiple Matsuoka oscillators, we are now studying how to generate a locomotion pattern for the robot in a flat or inclined floor, and also how to generate a robust
locomotion pattern for the case when unexpected disturbances are exerted.
Nonholonomic Systems (1993∼)
1. Intelligent Control for a Mobile Robot with Two-Independent Driving Wheels
• We applied several fuzzy controllers and fuzzy NN controllers to control the robot.
2. A Chaotic Control of Underactuated Manipulators by Constructing a Fuzzy Attractive Region
• We proposed a chaos control method for systems that produce a chaotic behavior, by applying an
open-loop control and a closed-loop control, which just constructs a fuzzy convex attraction region
composed of n + 1 rules based on a fuzzy modeling method about equilibrium points. Here, n denotes
the dimension of the state-space.
• We simultaneously proposed a numerical solution method for an LMI (Linear Matrix Inequality) (or
NMI: Nonlinear Matrix Inequality) by applying a genetic algorithm (GA) or ES and by considering a
penalty method for eigenvalues.
–5–
3. Switching Control for Underactuated Manipulators or Nonholonomic Mobile Robots
• For underactuated manipulators and nonholonomic mobile robots, we proposed a switching control
method so that multiple partly stable nonlinear controllers are timely used to control the total system,
under the framework of temporal combinatorial optimization problem according to the number of
coordinates and the number of actuators.
• A combinatorial optimized sequence is acquired in an offline manner for partly stable controllers by
GA. Online rule or mapping for such a sequence is also constructed as NN and/or fuzzy reasoning.
• Moreover, a method for switching the same nonlinear controllers as used in earlier is now being explored by dividing energy region into several fuzzy regions, in which the energy is defined by using
the tracking error and its rate.
4. SLAM (Simultaneous Localization and Mapping) Problem for Nonholonomic Mobile Robots
• We considered a new solution to a SLAM problem by applying a pseudolinear model, especially on
the measurement model.
• We are now challenging to get an accurate solution for the same SLAM problem by resorting to the
so-called fuzzy Kalman filter method.
5. Underactuated Control for VTOL Aerial Robots
• The motion of a VTOL aerial robot with four rotors is nonholonomic, because its motion has no
sideway thrust, so that its motion is subject to the constraint of no sideway slippage. Therefore, we
are now studying on a kinematic based discontinuous control, a control based on its chained form
transformation, and further a dynamical model based control due to the combination of the kinematic
control and the backstepping method.
• Applying the same consideration as used in the aerial robot to the case of underwater vehicles, we
are now tackling an underactuated system control for an AUV (Autonomous Underwater Vehicle), in
which six states are controlled by only using four inputs.
General Robotics and Mechatronics (1993∼)
1. Robust Estimation, Control and Adaptation for Nonlinear Dynamical Systems
• We studied a VSS nonlinear observer for a nonlinear system with output uncertainties such as pink
noises (i.e., noises limited with band-width).
• We also developed a nonlinear adaptive robust control in the form of a sliding mode, where the unknown upper bound is estimated so as to assure an ultimately bounded stability.
2. Manipulators with Rubber Muscle Actuators
• We developed a serial link and a parallel-link (Stewart-type) manipulators by applying rubber muscle
actuators and studied their positioning by several controllers such as PID controller, servo controller,
fuzzy controller, etc.
3. Omnidirectional Mobile Robots
–6–
• Dynamics derivations, dynamic control and model-based fuzzy control were performed for several
orthogonal wheel type omnidirectional mobile robots.
• We also applied the above platform to a mobile manipulator and studied its dynamical analysis and the
path planning with B-spline together with GA optimization.
• We further proposed several omnidirectional mobile robots with two or more assemblies composed of
active dual casters and actually constructed a prototype robot.
4. Application Studies of Industrial Manipulators
• We proposed a learning type impedance following force control system to estimate the change of
material properties by a fuzzy environmental model.
• We developed a teaching system using a fuzzy joystick to cope with a change of material properties.
• We applied these methods to furniture polishing and metal mold polishing.
Autonomous, Decentralized and Cooperative Systems (1993∼)
1. Self-organizing Robots
• We studied an optimal motion planning for a Fractum robot (with several two-dimensional homogeneous units (or modules)).
• We also studied an optimization of a task achievement evaluation for a self-organizing robot (with
several three-dimensional heterogeneous units (or modules)).
2. Omnidirectional Transportation Systems with Multiple Nonholonomic Mobile Robots
• A decentralized behavior-based control method was learned by GA.
• A decentralized control method was proposed by using a leader-follower concept.
Biomedical Robots (2000∼2003)
1. Exoskeletal Robots
• We studied an elbow and shoulder support instruments using an exoskeletal robot, where a fuzzy NN
controller was used so that the desired motion was commanded by EMG signals.
–7–
2. Journals and Transactions
1. T. Yoshimura, K. Watanabe, K. Konishi and T. Soeda, “A sequential failure detection approach and the
identification of failure parameters,” Int. J. Systems Science, Vol. 10, No. 7, pp. 827–836, 1979 年.
2. 渡辺桂吾，芳村敏夫，添田 喬， “パラメータ故障診断システムの一設計法”, 計測自動制御学会論
文集, Vol. 15, No. 7, pp. 901–906, 1979 年.
3. K. Watanabe, T. Yoshimura and T. Soeda, “Optimal non-linear estimation for distributed-parameter systems
via the partition theorem,” Int. J. Systems Science, Vol. 11, No. 9, pp. 1113–1130, 1980 年.
4. K. Watanabe, “An alternative approach to the derivation of distributed-type partitioning filters,” Int. J. Systems Science, Vol. 12, No. 3, pp. 351–356, 1981 年.
5. K. Watanabe, “Optimal filtering and smoothing algorithms for linear distributed-parameter systems with
pointwise observation,” Int. J. Systems Science, Vol. 12, No. 3, pp. 325–349, 1981.
6. K. Watanabe,
T. Yoshimura and T. Soeda,
“A Diagnosis Method for Linear
Stochastic Systems with Parametric Failures,” Trans. ASME J. Dynamic Systems, Measurement, and Control, Vol. 103, No. 1, pp. 28–35, 1981.
7. 芳村敏夫，岡本芳行，渡辺桂吾，添田 喬，“SO2 濃度の予測のための拡散モデルの作成”，計測自動
制御学会論文集， Vol. 17, No. 4, pp. 461–466, 1981.
8. K. Watanabe, T. Yoshimura and T. Soeda, “A Discrete-Time Adaptive Filter for Stochastic Distributed Parameter Systems,” Trans. ASME J. Dynamic Systems Measurement, and Control, Vol. 103, No. 3, pp.
266–278, 1981.
9. K. Watanabe, T. Yoshimura and T. Soeda, “Optimal Adaptive Estimation and Stochastic Control for
Distributed-Parameter Systems,” IEEE Trans. Aut. Control, Vol. AC-27, No. 1, pp. 216–219, 1982 年.
10. K. Watanabe, “Generalized Chandrasekhar algorithms for distributed-parameter filtering problem with pointwise colored measurement noise,” Int. J. Systems Science, Vol. 13, No. 6, pp. 619–637.
11. 渡辺桂吾，“線形分布定数系の分割推定問題”, 計測自動制御学会論文集, Vol. 18, No. 7, pp. 677–684,
1982 年.
12. K.
Watanabe
and
M.
Iwasaki,
“A
Fast
Computational
Approach
in
Optimal
Distributed-Parameter State Estimation,” Trans. ASME J. Dynamic Systems, Measurement, and Control,
Vol. 105, No. 1, pp. 1–10, 1983 年.
13. 渡辺桂吾，黒崎隆二郎，“非可制御確率システムの最適構造分割フィルタ”, システムと制御，Vol. 27,
No. 5, pp. 349–360, 1983 年.
14. K. Watanabe, “Optimal Partitioned Filter of Stochastic Distributed-Parameter Dynamical Systems with Unknown Initial State,” J. Franklin Institute, Vol. 315, No. 5/6, pp. 347–385, 1983 年.
15. K. Watanabe, “Partitioned estimators based on the perturbed Kalman filter equations,” Int. J. Systems Science, Vol. 14, No. 9, pp. 1115–1128, 1983 年.
16. K. Watanabe, “Two-stage bias correction estimators based on generalized partitioning estimation method,”
Int. J. Control, Vol. 38, No. 3, pp. 621–637, 1983 年.
–8–
17. K. Watanabe, “Optimal structurally partitioned filter for undisturbable stochastic systems Part I. Basic theory,” Int. J. Systems Science, Vol. 14, No. 10, pp. 1139–1158, 1983 年.
18. K. Watanabe, “Optimal structurally partitioned filter for undisturbable stochastic systems Part II. Stability
and its asymptotic behavior,” Int. J. Systems Science, Vol. 14, No. 10, pp. 1159–1169, 1983 年.
19. K. Watanabe, “A passive-type multiple model adaptive control (MMAC) of linear discrete-time stochastic
systems with uncertainty observation subsystems,” Int. J. Systems Science, Vol. 15, No. 6, pp. 647–659,
1984 年.
20. 岩崎松之助，渡辺桂吾， “静止状態におけるプロペラの空力性能の渦理論による計算と実験”, 日本航
空宇宙学会誌, Vol. 32, No. 368, pp. 518–525, 1984 年.
21. K. Watanabe, “Application of pseudolinear partitioned filter to passive vehicle tracking,” Int. J. Systems
Science, Vol. 15, No. 9, pp. 959–975, 1984 年.
22. K. Watanabe, “General Two-Stage Bias Correction Filter and Predictor for Linear Discrete-Time Systems,”
Control-Theory and Advanced Technology, Vol. 1, No. 1, pp. 87–101, 1985 年.
23. K. Watanabe, “Scattering framework for backwards partitioned estimators,” Int. J. Systems Science, Vol. 16,
No. 5, pp. 553–572, 1985 年.
24. K. Watanabe, “On the relationship between the Lagrange multiplier method and the two-filter smoother,”
Int. J. Control, Vol. 42, No. 2, pp. 391–410, 1985 年.
25. K.
Watanabe,
“Algebraic
solution
of
a
forward-pass
fixed-interval
Continuous-time systems,” Int. J. Systems Science, Vol. 16, No. 10, pp. 1217–1227, 1985 年.
smoother:
26. K. Watanabe, “Decentralized Fixed-Interval Smoothing Algorithms,” Trans. ASME J. Dynamic Systems,
Measurement, and Control, Vol. 108, No. 1, pp. 86–89, 1986 年.
27. 渡辺桂吾, “離散時間システムの前向き定常固定区間スムーザ”, 計測自動制御学会論文集”, Vol. 22, No.
3, pp. 256–261, 1986 年.
28. 渡辺桂吾, “後向き適応フィルタリングの一手法”, システムと制御, Vol. 30, No. 6, pp. 367–374, 1986 年.
29. K.
Watanabe,
“Steady-State
Covariance
Analysis
for
A
Forward-Pass
FixedInterval Smoother,” Trans. ASME J. Dynamic Systems, Measurement, and Control, Vol. 108, No. 2, pp.
136–140, 1986 年.
30. K. Watanabe, “Decentralized two-filter smoothing algorithms in discrete-time systems,” Int. J. Control, Vol.
44, No. 1, pp. 49–63, 1986 年.
31. K. Watanabe, “Continuous-time decentralized smoothers based on two-filter form: Identical local and global
models,” Int. J. Systems science, Vol. 17, No. 7, pp. 1015–1028, 1986 年.
32. K. Watanabe, “A New Forward-Pass Fixed-Interval Smoother Using the U-D Information Matrix Factorization,” Automatica, Vol. 22, No. 4, pp. 465–475, 1987 年.
33. K. Watanabe, “Application of a multiple-model adaptive filter method to inertial navigation systems,” Int. J.
Systems Science, Vol. 18, No. 2, pp. 301–322, 1987 年.
–9–
34. K. Watanabe, “Steady-state error covariances of fixed-point smoothers,” Int. J. Systems Science, Vol. 18,
No. 7, pp. 1323–1337, 1987 年.
35. K. Watanabe, “Simple method for solving the constant gains of the Kalman filters with single output,” Int.
J. Control, Vol. 46, No. 3, pp. 849–864, 1987 年.
36. K. Watanabe, “Closed-Form Solutions of ECV and ECA Tracking Filters based on A Transfer-Function
Approach,” IEE Proceedings, Part D, Vol. 134, No. 6, pp. 368–372, 1987 年.
37. K. Watanabe, “Discrete-time forward-pass smoothers in distributed sensor networks,” Int. J. Systems Science, Vol. 19, No. 8, pp. 1375–1385, 1988 年.
38. 渡辺桂吾, “階層的多重モデル適応推定と制御の一手法”, システム制御情報学会論文集, Vol. 1, No. 4,
pp. 127–136, 1988 年.
39. K.
Watanabe
and
S.G.
Tzafestas,
“Observation-weighted
controllers
for
linear
stochastic systems using a dual criterion: the multivariable case,” Int. J. Control, Vol. 48, No. 5, pp.
1897–1913, 1988 年.
40. K. Watanabe, “Backward-pass multiple model adaptive filtering for a fixed-interval smoother,” Int. J. Control, Vol. 49, No. 2, pp. 385–397, 1989 年.
41. K. Watanabe and S.G. Tzafestas, “New computationally efficient formulas for backward-pass fixed-interval
smoother and its U-D factorization algorithm,” IEE Proceedings, Pt. D, Vol. 136, No. 2, pp. 73–78, 1989 年.
42. K. Watanabe and S.G. Tzafestas, “Observations weighted controllers for linear stochastic systems using a
dual criterion: the single-input/single-output case,” Int. J. Systems Science, Vol. 20, No. 7, pp. 1305–1321,
1989 年.
43. K. Watanabe, “A Decentralized Multiple Model Adaptive Filtering for Discrete-Time Stochastic Systems,”
Trans. ASME J. Dynamic Systems, Measurement, and Control, Vol. 111, No. 3, pp. 371–377, 1989 年.
44. K. Watanabe and S.G. Tzafestas, “A multiple-model adaptive control for jump-linear stochastic systems,”
Int. J. Control, Vol. 50, No. 5, pp. 1603–1617, 1989 年.
45. K. Watanabe and S.G. Tzafestas, “Stochastic Control for Systems with Faulty Sensors,” Trans. ASME J.
Dynamic Systems, Measurement, and Control, Vol. 112, No. 1, pp. 143–146, 1990 年.
46. K. Watanabe and S.G. Tzafestas, “Decentralized Estimation Algorithms for A Backward-Pass Fixed-Interval
Smoother,” Int. J. Systems Science, Vol. 21, No. 5, pp. 913–931, 1990 年.
47. K. Watanabe and S.G. Tzafestas, “A Hierarchical Multiple Model Adaptive Control of Discrete-Time Stochastic Systems for Sensor and Actuator Uncertainties,” Automatica, Vol. 26, No. 5, pp. 875–886, 1990 年.
48. K. Watanabe and S. G. Tzafestas, “Observations Weighted Controllers for Single-Input/Single-Output
Stochastic Systems Using a Perturbed-Type Dual Criterion,” Int. J. Control, Vol. 52, No. 5, pp. 1019–
1034, 1990 年.
49. K. Watanabe and S.G. Tzafestas, “Learning Algorithms for Neural Networks with the Kalman Filters,” J.
Intelligent and Robotic Systems, Vol. 3, No. 4, pp. 305–319, 1990 年.
– 10 –
50. S.G. Tzafestas, and K. Watanabe, “Modern approaches to system/sensor fault detection and diagnosis,”
Journal A, Vol. 31, No. 4, pp. 42–57, 1990 年.
51. K. Watanabe, T. Fukuda and S.G. Tzafestas, “Learning Algorithms of Layered Neural Networks via the
Extended Kalman Filters,” Int. J. Systems Sci., Vol. 22, No. 4, pp. 753–768, 1991 年.
52. K. Watanabe, T. Fukuda and S.G. Tzafestas, “An Iterative Learning Control Scheme Using the Weighted
Least-Squares Method,” J. of Intelligent & Robotic Systems, Vol. 4, No. 3, pp. 267–284, 1991 年.
53. 渡辺桂吾, “状態空間手法による CARIMA 系の一般化予測制御”, システム制御情報学会論文集, Vol. 4,
No. 9, pp. 360–368, 1991 年.
54. 福田敏男，和田 洋，松浦英雄，新井史人，渡辺桂吾，正司康雅， “衝突を含むロボット・マニピュ
レータの安定制御（第６報，重み付き最小二乗法を用いた学習制御による衝突を含む力制御実験） ”,
日本機械学会論文集 C，Vol. 57, No. 541, pp. 2953–2958, 1991 年.
55. H. Wada, T. Fukuda, H. Matsuura, F. Arai, K. Watanabe, and S. Shoji, “ Collision Control of the Robot
Manipulator by a Learning Control Using the Weighted Least-Squares Method,” J. of Robotics and Mechatronics, Vol. 3, No. 6, pp. 491–496, 1991 年.
56. 和田 洋，福田敏男，小菅一弘，松浦英雄，新井史人，渡辺桂吾， “衝突を含むロボット・マニピュ
レータの安定制御（第７報，学習制御による衝突音に関するオーディオ・フィードバック制御）”, 日
本機械学会論文集 C，Vol. 58, No. 546, pp. 520–525, 1992 年.
57. K. Watanabe, “Forward-Pass Bryson-Frazier Smoother in Discrete-Time Systems,” Int. J. Systems Sci., Vol.
23, No. 1, pp. 71–84, 1992 年.
58. K. Watanabe, T. Fukuda, and S.G. Tzafestas, “An Adaptive Control for CARMA Systems using Linear
Neural Networks,” Int. J. Control, Vol. 56, No. 2, pp. 483–497, 1992 年.
59. K. Watanabe and S.G. Tzafestas, “Generalized Fixed-Interval Smoothers
Time Systems,” Int. J. Systems Sci., Vol. 23, No. 9, pp. 1491–1506, 1992 年.
for
Discrete-
60. K. Watanabe, T. Fukuda and S.G. Tzafestas, “Sliding mode control and a variable structure system observer
as a dual problem for systems with non-linear uncertainties,” Int. J. Systems Sci., Vol. 23, No. 11, pp.
1991–2001, 1992 年.
61. 渡辺桂吾，白水耕三，福田敏男，“多重ファジィ制御”, 日本機械学会論文集 C，Vol. 58, No. 554, pp.
2970–2976, 1992 年.
62. 陳 相浩，渡辺桂吾，中村政俊, “ロボットマニピュレータ軌道の多重ファジィ制御”, 日本機械学会論
文集 C，Vol. 59, No. 557, pp. 158–164, 1993 年.
63. K. Watanabe and S.G. Tzafestas, “Generalized Pseudo-Bayes Estimation and Detection for Abruptly Changing Systems,” J. Intelligent and Robotic Systems, Vol. 7, No. 1, pp. 95–112, 1993 年.
64. 和田 洋，福田敏男，小菅一弘，渡辺桂吾，新井史人，松浦英雄， “予測制御に基づく対象物の動特
性を考慮したダンビング制御”, 日本機械学会論文集 C，Vol. 59, No. 559, pp. 827–832, 1993 年.
65. H. Wada, T. Fukuda, K. Watanabe, H. Matsuura and F. Arai, “Force Control of the Robot Manipulator with
Collision Phenomena by Learning Control,” JSME International Journal, Vol. 36, No. 2, pp. 219–225,
1993 年.
– 11 –
66. S. Jin, I. Kimura and K. Watanabe, “Controls of Servomotors for Carry Hospital Robots,” J. of Intelligent &
Robotic Systems, Vol. 7, No. 3, pp. 353–369, 1993 年.
67. 陳 相浩，渡辺桂吾，中村政俊，福田敏男，“ファジィ補償によるゴム人工筋ロボットマニピュレー
タの非線形制御”，日本ロボット学会論文集， Vol. 11, No. 5, pp. 737–744, 1993 年.
68. 湯 軍，渡辺桂吾，中村政俊，古賀信之，“ファジィ・ガウシアン・ニューラルネットワーク制御器とそ
の移動ロボット車の制御への応用”，日本機械学会論文集 C，Vol. 59, No. 564, pp. 2290–2297, 1993 年.
69. 陳 相浩，渡辺桂吾, “ゴム人工筋 2 リンクマニピュレータの線形軌道追従制御”, 日本機械学会論文集
C, Vol. 59, No. 565, pp. 2745–2752, 1993 年.
70. K. Watanabe and K. Shiramizu, “Multiple Fuzzy Controllers Using A Linear Neural Network,” Modelling
and Scientific Computing, Vol. 1, No. 3/4, pp. 366–381, 1994 年.
71. 和田 洋，小菅一弘，福田敏男，渡辺桂吾， “周波数特性に基づく力制御系の一設計法”, 日本機械学
会論文集 C，Vol. 60, No. 570, pp. 577–582, 1994 年.
72. 湯 軍，渡辺桂吾，中村政俊，古賀信之，“絶対座標系に基づく移動ロボット車のファジィ軌道制御”，
日本機械学会論文集 C，Vol. 60, No. 573, pp. 1713–1720, 1994 年.
73. 陳 相浩，渡辺桂吾，中村政俊，“ゴム人工筋ロボットマニピュレータの多重ファジィ制御実験”，日
本ロボット学会論文集， Vol. 12, No. 3, pp. 90–96, 1994 年.
74. M. Teshnehlab and K. Watanabe, “Self-tuning of Computed Torque Gains by using Neural Networks with
Flexible Structure,” IEE Proceedings, Pt. D, Vol. 141, No. 4, pp. 235–242, 1994 年.
75. 泉 清高，渡辺桂吾，中村政俊，“簡略化型非線形適応ロバスト制御器の一構成法”，日本機械学会論
文集 C，Vol. 61, No. 581, pp. 85–91, 1995 年.
76. J. Tang, K. Watanabe and M. Nakamura, “Block Hierarchical Fuzzy-Neural Networks ad Their Application
to a Mobile Robot Control,” J. of Robotics and Mechatronics, Vol. 7, No. 1, pp. 12–20, 1995 年.
77. M. Teshnehlab and K. Watanabe, “Robot Manipulator Control Using Fuzzy Gaussian Potential Neural Networks,” J. of Robotics and Mechatronics, Vol. 7, No. 1, pp. 21–28, 1995 年.
78. 渡辺桂吾，原 勝弘，“平均値関数型推論を用いたファジィ・ニューラルネットワーク制御器”，日本
ファジィ学会誌，Vol. 7, No. 3, pp. 647–657, 1995 年.
79. K. Watanabe and K. Shiramizu and T. Fukuda, “Multiple Fuzzy Controls,” JSME International Journal(C),
Vol. 38, No. 2, pp. 227–232, 1995 年.
80. K. Izumi, K. Watanabe and M. Nakamura, “Simplified Adaptive Nonlinear Robust Controller for Linearized
Pantograph Type Manipulator,” J. of Robotics and Mechatronics, Vol. 7, No. 3, pp. 242–249, 1995 年.
81. K. Watanabe, K. Hara, S. Koga, and S.G. Tzafestas, “Fuzzy-Neural Network Controllers using the MeanValue-based Functional Reasoning,” Neurocomputing, Special Issue on Control and Robotics, Vol. 9, pp.
39–61, 1995 年.
82. K. Watanabe, S. Jin, and S.G. Tzafestas, “Learning Multiple Fuzzy Control for Robot Manipulators,” J.
Artificial Neural Networks, Vol. 2, No. 1/2, pp. 119–136, 1995 年.
– 12 –
83. 渡辺桂吾，“平均値関数型推論によるファジィ制御器設計”，計測自動制御学会論文集，Vol. 31, No. 8,
pp. 1106–1113, 1995 年.
84. M. Teshnehlab and K. Watanabe, “ Flexible Structural Learning Control of a Robotic Manipulator Using
Artificial Neural Network,” JSME International Journal(C), Vol. 38, No. 3, pp. 510–521, 1995 年.
85. 湯 軍，渡辺桂吾，中村政俊，“ブロック階層型ファジィガウシアンニューラルネットワークを用いた
移動ロボットの学習制御”，日本ファジィ学会誌，Vol. 8, No. 1, pp. 105–114, 1996 年.
86. M. Teshnehlab and K. Watanabe, “Neural Networks Controller with Flexible Structure Based on FeedbackError-Learning Approach,” J. Intelligent and Robotic Systems, Vol. 15, No. 4, pp. 367–387, 1996 年.
87. K. Watanabe, J. Tang, M. Nakamura, S. Koga and T. Fukuda, “A Fuzzy-Gaussian Neural Network and Its
Application to Mobile Robot Control,” IEEE Trans. on Control Systems Technology, Vol. 4, No. 2, pp.
193–199, 1996 年.
88. 湯 軍，渡辺桂吾，中村政俊，“2 輪独立駆動型移動ロボットの軌道追従制御 – トルク算出制御とファ
ジィ制御の比較実験 –”，日本ロボット学会誌， Vol. 14, No. 2, pp. 217–224, 1996 年.
89. 渡辺桂吾，“確率ファジィ制御（第１報 理論導出） ”，日本機械学会論文集 C，Vol. 62, No. 595, pp.
1005–1012, 1996 年.
90. 渡辺桂吾，“確率ファジィ制御（第２報 先験確率とファジィ集合および制御ルールの関係） ”，日本
機械学会論文集 C，Vol. 62, No. 595, pp. 1013–1018, 1996 年.
91. 渡辺桂吾，野見山 章，“確率ファジィ制御（第３報 移動ロボット車の軌道追従制御への応用）”，日
本機械学会論文集 C，Vol. 62, No. 595, pp. 1019–1025, 1996 年.
92. 陳 相浩，渡辺桂吾，“PID およびファジィ制御器によるゴム人工筋ロボットマニピュレータの位置と
力のハイブリッド制御実験”，日本機械学会論文集 C，Vol. 62, No. 599, pp. 2706–2713, 1996 年.
93. 永田寅臣，渡辺桂吾，“木工用スピンドルチルト 5 軸制御 NC 工作機械のためのポストプロセサの開
発”, 精密工学会誌， Vol. 62, No. 8, pp. 1203–1208, 1996 年.
94. K. Watanabe, “A Design Method of A VSS Observer for Continuous-Time Systems with Output Uncertainties,” JSME Int. Journal, Vol. 40, No. 3 (C), Sept., pp. 416–424, 1997 年.
95. K. Watanabe, “Stochastic Fuzzy Control (Theoretical Derivation),” JSME Int. Journal, Vol. 40, No. 2 (C),
June, pp. 224–230, 1997 年.
96. J. Tang, K. Watanabe and A. Nomiyama, “Trajectory Tracking Control for a Mobile Robot Using Stochastic
Fuzzy Controller,” J. of Robotics and Mechatronics, Vol. 9, No. 2, pp. 160–167, 1997 年.
97. 渡辺桂吾，佐藤和也，野見山 章，“ファジィシステムの周期時変システムとしての安定解析”，日本
ファジィ学会誌，Vol. 9, No. 4, pp. 541–550, 1997 年.
98. K. Watanabe, K. Izumi, and T. Otsubo, “A Nonlinear Robust Control Using a Fuzzy Reasoning and Its
Application to A Robot Manipulator,” J. of Intelligent and Robotic Systems, Vol. 20, No.2/4, pp. 275–294,
1997 年.
99. 永田寅臣，渡辺桂吾，佐藤和也，泉 清高，末広利範，“オープンアーキテクチャ型の産業用ロボット
のための位置指令型インピーダンス制御”，精密工学会誌， Vol. 64, No. 4, pp. 552–556, 1998 年.
– 13 –
100. 渡辺桂吾，泉清 高，“あいまい行動型制御（第 1 報 制御系実現の提案）”，日本機械学会論文集 C，
Vol. 64, No. 620, pp. 1278–1286, 1998 年.
101. 渡辺桂吾，野田勝彦， “確率ファジィ制御（第 4 報 ロバストサーボ構造を用いた直動リンクの位置
決め制御）”，日本機械学会論文集 C，Vol. 64, No. 620, pp. 1287–1292, 1998 年.
102. K. Sato, K. Watanabe, M. Oya and T. Kobayashi, “Simple Adaptive Control of Systems with Bounded
Nonlinear Disturbances,” J. of Robotics and Mechatronics, Vol. 10, No. 2, pp. 158–165, 1998 年.
103. K. Watanabe, Y. Shiraishi, S.G. Tzafestas, J. Tang, and T. Fukuda, “Feedback Control of an Omnidirectional
Autonomous Platform for Mobile Service Robots, J. of Intelligent and Robotic Systems, Vol. 22, No. 3/4
(July-August), pp. 315–330, 1998 年.
104. M.M. A. Hashem, K. Watanabe, and K. Izumi, “A New Evolution Strategy and Its Application to Solving
Optimal Control Problems,” JSME Int. Journal, Vol. 41, No. 3 (C), September, pp. 406–412, 1998 年.
105. K. Watanabe, K. Izumi, J. Tang and F. Han, “Rotational Control of an Omnidirectional Mobile Robot Using
a Fuzzy Servo Controller,” Advanced Robotics, Vol. 12, No. 3, pp. 171–189, 1998 年.
106. 湯 軍，渡辺桂吾，“ファジィモデルに基づく全方向移動ロボット車の最適サーボ系の構成”，日本機
械学会論文集 C，Vol. 64, No. 626, pp. 3894–3900, 1998 年.
107. 渡辺桂吾，野田勝彦，黒石雅史，西川正晃，平尾 剛，“ゴム人工筋６自由度パラレルリンクマニピュ
レータの積分型確率ファジィ制御”，日本ロボット学会誌， Vol. 16, No. 8，pp. 1061–1068, 1998 年.
108. 渡辺桂吾，野見山 章，“線形 min-max 制御としての確率ファジィ制御器設計”, 計測自動制御学会論文
集，Vol. 34, No. 11, pp. 1574–1581, 1998 年.
109. 永田寅臣，渡辺桂吾，佐藤和也，泉 清高， “学習型ファジィ環境モデルを用いた位置指令インピー
ダンス制御”，日本機械学会論文集 C，Vol. 64, No. 628, pp. 4679–4686, 1998 年.
110. M.M. A. Hashem, K. Watanabe, and K. Izumi, “A New Stable-Optimum Gain Tuning Method for Designing
Mobile Robot Controllers Using an Incest Prevented Evolution Strategy,” J. of Advanced Computational
Intelligence, Vol. 2, No. 5, pp. 164–175, 1998 年.
111. 湯 軍，渡辺桂吾，栗林勝利，白石大和，“直交車輪機構を用いた全方向移動ロボット車の自律制御”，
日本ロボット学会誌， Vol. 17, No. 2, pp. 51–60, 1999 年.
112. F. Nagata, K. Watanabe, K. Sato and K. Izumi, “Impedance Control Using Anisotropic Fuzzy Environment
Model,” J. of Robotics and Mechatronics, Vol. 11, No. 1, pp. 60–66, 1999 年.
113. J. Tang, K. Watanabe and K. Kuribayashi, “Servocontrol of a Mobile Robot by Using Genetic Algorithms,”
J. of Robotics and Mechatronics, Vol. 11, No. 2, pp. 140–147, 1999 年.
114. M.M. A. Hashem, K. Watanabe, and K. Izumi, “Evolutionary Collision Free Optimal Trajectory Planning
for Mobile Robots,”J. of Robotics and Mechatronics, Vol. 11, No. 2, pp. 153–164, 1999 年.
115. K. Izumi, K. Watanabe and M.M.A. Hashem, “Evolutionary Strategy Using Statistical Information and Its
Application to Mobile Robot Control,” J. of Advanced Computational Intelligence, Vol. 3, No. 2, pp. 75–81,
1999 年.
– 14 –
116. K. Izumi, K. Watanabe, H. Tamura and Y. Ikeda, “Initial Configuration Dependence in a Self-Organizing
Robot,” J. of Artificial Life and Robotics, Vol. 3, pp. 160–165, 1999 年.
117. 渡辺桂吾，野見山 章，泉 清高，韓 福華，“確率ファジィ制御（第 5 報 動的ファジィサーボ系と
全方向移動ロボット車への応用） ”, 日本機械学会論文集 C, Vol. 65, No. 637, pp. 3621–3628, 1999 年.
118. K. Sato, K. Watanabe, K. Izumi and M. Watanabe, “An Adaptive PI Control System for an Omnidirectional
Mobile Robot,” J. of Robotics and Mechatronics, Vol. 11, No. 5, pp. 349–355, 1999 年.
119. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “Optimal Force Distribution for the Legs of a Quadruped
Robot,” Machine Intelligence and Robotic Control, Vol. 1, No. 2, pp. 87–94, 1999 年.
120. X. Chen, K. Watanabe and K. Izumi, “Joint Positions and Robot Stability of the Omnidirectional Crawling
Quadruped Robot,” J. of Robotics and Mechatronics, Vol. 11, No. 6, pp. 510–517, 1999 年.
121. P. Dassanayake, K. Watanabe and K. Izumi, “Fuzzy Behavior-Based Control for a Task of Three-Link Manipulator with Obstacle Avoidance,” J. of Robotics and Mechatronics, Vol. 11, No. 6, pp. 502–509, 1999 年.
122. 渡辺桂吾，泉 清高，宮崎雄英， “あいまい行動型制御（第 2 報 種を有するウイルス進化遺伝的ア
ルゴリズムによる学習） ”，日本機械学会論文集 C，Vol. 66, No. 641, 1 月，pp. 174–181, 2000 年.
123. K. Izumi and K. Watanabe, “Fuzzy Behavior-Based Control Trained by Module Learning to Acquire the
Adaptive Behaviors of Mobile Robots,” Mathematics and Computers in Simulation, Vol. 51, pp. 233–243,
2000 年.
124. K. Watanabe, K. Sato, K. Izumi and Y. Kunitake, “Analysis and Control for an Omnidirectional Mobile
Manipulator,” J. of Intelligent and Robotic Systems, Vol. 27, No. 1/2, pp. 3–20, 2000 年.
125. 永田寅臣，渡辺桂吾，泉 清高，“多軸制御用 CL データに基づく位置補償器を用いた産業用ロボット
の倣い制御”，精密工学会誌，Vol. 66, No. 3, pp. 473–477, 2000 年.
126. K. Izumi, K. Watanabe, T. Hirao, and M. Misumi, “Cooperative Control Using Multiple Manipulators with
Different Command Inputs,” Systems Analysis Modelling Simulation, Vol. 38, No. 2, pp. 419-431, 2000
127. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “Two-Stage Adaptive Robot Position/Force Control
Using Fuzzy Reasoning and Neural Networks,” Advanced Robotics, Vol. 14, No. 3, pp. 153–168, 2000 年.
128. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “A Real-Time Kinematics on the Translational Crawl
Motion of a Quadruped Robot,” J. of Intelligent and Robotic Systems, Vol. 29, No. 2, pp. 111–131, 2000 年.
129. F. Han, T. Yamada, K. Watanabe, K. Izumi and K. Kiguchi, “Construction of an Omnidirectional Mobile
Robot Platform Based on Active Dual-Wheel Caster Mechanisms and Development of a Control Simulator,”
J. of Intelligent and Robotic Systems, Vol. 29, No. 3, pp. 257–275, 2000 年.
130. T. Nanayakkara, K. Watanabe, K. Kiguchi and K. Izumi, “Fuzzy Self-Adaptive RBF Neural Network Based
Control of a Seven-Link Industrial Robot Manipulator,” Advanced Robotics, Vol. 15, No. 1, pp. 17–43,
2001 年.
131. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “Implementation of Omnidirectional Crawl for a
Quadruped Robot,” Advanced Robotics, Vol. 15, No. 2, pp. 169–190, 2001 年.
– 15 –
132. 韓 福華，山田隆明，渡辺桂吾，泉 清高， “複数のアクティブ双輪キャスタアセンブリを用いた全
方向移動ロボット車”，日本機械学会論文集 C，Vol. 67, No. 653, 1 月，pp. 154–161, 2001 年.
133. 永田寅臣，渡辺桂吾，“研磨ロボットのためのジョイスティック支援による力制御教示システム”, 日本
機械学会論文集 C，Vol. 67，No. 655，3 月, pp. 767–774, 2001 年.
134. K. Kiguchi, H. Miyaji, K. Watanabe, K. Izumi, and T. Fukuda, “Generation of an optimal architecture of
neuro force controllers for robot manipulators in unknown environments using genetic programming with
fuzzy fitness evaluation,” Soft Computing, Vol. 5, pp. 237–242, 2001 年.
135. K. Kiguchi, S. Kariya, K. Watanabe, K. Izumi, and T. Fukuda, “An Exoskeletal Robot for Human Elbow
Motion Support—Sensor Fusion, Adaptation, and Control,” IEEE Trans. on Systems, Man, and Cybernetics,
Part B: Cybernetics, Vol. 31, No. 3, pp. 353–361, 2001 年.
136. T. Yamada, K. Watanabe, K. Kiguchi, and K. Izumi, “Dynamic Model and Control for a Holonomic Omnidirectional Mobile Robot,” Journal of Autonomous Robots, Vol. 11, pp. 173–189, 2001 年.
137. 渡辺桂吾，泉 清高，国武 豊，木口量夫，“進化戦略による全方向移動マニピュレータの軌道計画”,
日本機械学会論文集 C，Vol. 67, No. 661, 9 月, pp. 2897–2904, 2001 年.
138. 木口量夫，刈谷臣吾，渡辺桂吾，泉 清高，福田敏男， “外骨格型ロボットによる人間動作補助の研
究（第１報，肘運動補助用１自由度ロボットにおけるファジィ制御） ”，日本機械学会論文集 C，Vol.
67, No. 661, 9 月, pp. 2905–2912, 2001 年.
139. F. Nagata, K. Watanabe, S. Hasino, H. Tanaka, T. Matsuyama, and K. Hara, “Polishing Robot Using a
Joystick Controlled Teaching System,” Journal of Robotics and Mechatronics, Vol. 13, No. 5, pp. 517–525,
2001 年.
140. 山口智浩，渡辺桂吾，木口量夫，泉 清高，“転倒安定性を考慮した４脚歩行ロボットのファジィ姿
勢制御”，日本機械学会論文集 C, Vol. 67, No. 664, 12 月, pp. 3869–3875, 2001 年.
141. K. Kiguchi, K. Iwami, K. Watanabe, and T. Fukuda, “A Study of an EMG-Based Exoskeletal Robot for
Human Shoulder Motion Support,” JSME Int. Journal (Series C), Vol. 44, No. 4, pp. 1133–1141, 2001 年.
142. T. Nanayakkara, K. Watanabe, K. Izumi, and K. Kiguchi, “Evolutionary Learning of a Fuzzy Behavior
Based Controller for a Nonholonomic Mobile Robot in a Class of Dynamic Environments,” J. of Intelligent
and Robotic Systems, Vol. 32, No. 3, pp. 255–277, Nov. 2001 年.
143. P. Dassanayake, K. Watanabe, K. Kiguchi, and K. Izumi, “Robot Manipulator Task Control with Obstacle
Avoidance Using Fuzzy Behavior-Based Strategy, ”Journal of Intelligent and Fuzzy Systems, Vol. 10, Nos.
3/4, pp. 139–158, 2001 年.
144. Kazuo Kiguchi, Keigo Watanabe, and Toshio Fukuda, “Design of a Human-Like Desired Grasping Force
Planner for Object Manipulation by Robot Manipulators,” Machine Intelligence and Robotic Control, Vol.
3, No. 4, pp. 167–173, 2001 年．
145. 山田隆明，渡辺桂吾，木口量夫，泉 清高，“アクティブ双輪キャスタ機構を有するホロノミック全
方向移動ロボットの動的制御”，日本ロボット学会誌， Vol. 20, No. 2, pp. 187–195, 2002 年．
146. 山田隆明，渡辺桂吾，木口量夫，泉 清高，“サブグループに基づく評価を用いた GA によるつり輪ロ
ボットの演技スキルの獲得”，電気学会論文誌（C 部門誌），Vol. 122，No. 3，pp. 338–345，2002 年．
– 16 –
147. 山田隆明，渡辺桂吾，木口量夫，泉 清高， “つり輪ロボットに関する研究（演技を実現するための
ファジィ制御ルール）”，日本機械学会論文集（C 編），Vol. 68, No. 667, 3 月, pp. 893–899, 2002 年．
148. K. Kiguchi, S. Kariya, K. Watanabe, and T. Fukuda, “Application of Multiple Fuzzy-Neuro Controllers
of an Exoskeletal Robot for Human Elbow Motion Support,” Trans. on Control, Automation and Systems
Engineering, Vol. 4, No. 1, March, pp. 49–55, 2002 年．
149. 木口量夫，刈谷臣吾，渡辺桂吾，福田敏男, “外骨格型ロボットによる人間動作補助の研究（第２報，
複数のファジィ・ニューロ制御器を用いた人間肘運動補助用外骨格型ロボットの制御）”，日本機械学
会論文集 C，Vol. 68, No. 668, 4 月, pp. 1215–1222, 2002 年．
150. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “Path Tracking Based on Closed-Loop Control for a
Quadruped Robot in a Cluttered Environment,” ASME, J. of Dynamic Systems, Measurement, and Control,
Vol. 124, No. 2, June, pp. 272–280, 2002 年．
151. L. Udawatta, K. Watanabe, K. Kiguchi, and K. Izumi, “Fuzzy-Chaos Hybrid Controller for Controlling of
Nonlinear Systems,” IEEE Trans. on Fuzzy Systems, Vol. 10, No. 3, June, pp. 401–411, 2002 年．
152. K. Kiguchi, K. Watanabe, and T. Fukuda, “Generation of Efficient Adjustment Strategies for a Fuzzy-Neuro
Force Controller using Genetic Algorithms—Application to Robot Force Control in an Unknown Environment,” The International Journal of Information Sciences, Vol. 145, pp. 113–126, 2002 年．
153. T. Nanayakkara, K. Kiguchi, T. Murakami, K. Watanabe, K. Izumi, “Enhancing the Autonomy of Teleoperated Redundant Manipulators Through Fusion of Intelligent Control Modules,” Journal of Robotics and
Mechatronics, Vol. 14, No. 3, pp. 278–289, 2002 年．
154. 永田寅臣，渡辺桂吾，津田邦博，川口修司，藤本佳宏，村瀬安英，“多軸制御用 CL データに基づく倣
い制御器を用いた力制御ロボットサンダーの開発とその評価実験”, 精密工学会誌，Vol. 68, No. 7, pp.
953–957, 2002 年．
155. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “An ART-Based Fuzzy Controller for the Adaptive Navigation of a Human-Coexistent Quadruped Robot,” IEEE/ASME Trans. on Mechatronics, Vol. 7, No. 3,
September, pp. 318–328, 2002 年．
156. 木口量夫，岩見航也，浅見豊子，竹下淳子，佛淵孝夫，渡辺桂吾， “外骨格型ロボット装具による肩
関節運動生成”，日本義肢装具学会誌， Vol. 18, No. 4, pp. 309–316, 2002 年．
157. Kazuo Kiguchi, Shingo Kariya, Takakazu Tanaka, Keigo Watanabe, and Toshio Fukuda, “An Interface between an Exoskeletal Elbow Motion Assistance Robot and the Human Upper Arm,” Journal of Robotics and
Mechatronics, Vol. 14, No. 5, pp. 439–451, 2002 年．
158. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi and Kazuo Kiguchi, “Obstacle Avoidance of Three-DOF
Underactuated Manipulator by Using Switching Computed Torque Method,” Trans. on Control, Automation
and Systems Engineering, Vol. 4, No. 4, pp. 347–355, Dec. 2002 年.
159. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Evolution of Underactuated
Robots and Control Techniques,” Machine Intelligence and Robotic Control, vol. 4, no. 3, pp. 127-134,
2002 年.
– 17 –
160. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi, “Control for a Rings Gymnastic Robot
Using Fuzzy Reasoning and Genetic Algorithms,” Artificial Life and Robotics, vol. 6, no. 3, pp. 113–119,
2002 年.
161. Kazuo Kiguchi, Yukihiro Kusumoto, Keigo Watanabe, Kiyotaka Izumi, Toshio Fukuda, “Energy-Optimal
Gait Analysis of Quadruped Robots,” Artificial Life and Robotics, vol. 6, no. 3, pp. 120–125, 2002 年.
162. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “Translational Crawl and Path Tracking of a Quadruped
Robot,” J. of Robotic Systems, vol. 19, no. 12, pp. 569–584, 2002 年.
163. 渡辺桂吾，泉 清高, 牧 準之輔，木口量夫, “あいまい行動型制御（第 3 報，モジュール学習と外界
センサ情報を用いた適応型融合ユニットによる行動統合） ”，日本機械学会論文集（C 編），Vol. 69,
No. 677, 1 月, pp. 76–83, 2003 年.
164. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Self-Adaptive Output Tracking
with Applications to Active Binocular Tracking,” J. of Intelligent and Robotic Systems, Vol. 36, No. 2, pp.
129–147, Feb. 2003 年.
165. Kazuo Kiguchi, Koya Iwami, Makoto Yasuda, Keigo Watanabe, Toshio Fukuda, “An Exoskeletal Robot for
Human Shoulder Joint Motion Assist,” IEEE/ASME Trans. on Mechatronics, Vol. 8, No. 1, March, pp.
125–135, 2003 年.
166. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “A Kinetic Energy Based Potential Field
Method for the Local Obstacle Avoidance of Morible Robots,” Int. J. of Human-friendly Welfare Robotic
Systems, Vol. 4, No. 1, pp. 59–67，2003 年.
167. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “An Active Binocular Vision
Head, Its Kinematic Analysis and Derivation of Equations of Motion,” JSME Int. Journal (Series C), Vol.
46, No. 2, pp. 754–765, June 2003 年.
168. Kazuo Kiguchi, Kiyotaka Izumi, Keigo Watanabe, and Toshio Fukuda, “An Assist Level Adjustment Method
of an Active Shoulder Orthosis,” Int. J. of Human-friendly Welfare Robotic Systems, Vol. 4, No. 2, pp. 8–12,
2003 年．
169. Tomohiro Yamaguchi, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Obstacle Avoidance for
Quadruped Robots Using a Neural Network,” Int. J. of Advanced Computational Intelligence and Intelligent Informatics (JACIII), Vol. 7, No. 2, pp. 115-123, 2003, 2003.
170. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of Underactuated Robot
Manipulators Using Switching Computed Torque Method: GA Based Approach,” Soft Computing, Vol. 7,
No. 8, pp. 51–60, July 2003.
171. Kazuo Kiguchi, Thrishantha Nanayakkara, Keigo Watanabe, Toshio Fukuda, “Multi-Dimensional Reinforcement Learning Using a Vector Q-Net — Application to Mobile Robots,” International Journal of Control, Automation and Systems, vol. 1, no. 1, pp. 142–148, 2003 年.
172. 山口智浩，渡辺桂吾，泉清高，木口量夫，“ニューラルネットワークによる４脚歩行ロボットの障害
物回避行動を伴う目的地経路の獲得”, 日本機械学会論文集（C 編）, Vol. 69, No. 687, pp. 2880–2887,
2003 年.
– 18 –
173. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of Underactuated Manipulators Using Fuzzy Logic Based Switching Controller,” J. of Intelligent and Robotic Systems, Vol. 38, no.
2, pp. 155–173, 2003 年.
174. 佐藤和也，本田英己，早川阿希，渡辺桂吾， “台の振動抑制を考慮に入れた位置決め機構系への適応
PI 制御法の適用”，電気学会論文集（C 部門誌）, Vol. 123, No. 10, pp. 1798–1805, 2003 年.
175. Koliya N. Pulasinghe, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Voice Controlled Modular
Fuzzy Neural Controller with Enhanced User Autonomy,” Artificial Life and Robotics, vol. 7, nos. 1/2, pp.
40–47, 2003 年.
176. Xin Yang, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Coordinated Transportation of a Single
Object by Two Nonholonomic Mobile Robots,” Artificial Life and Robotics, vol. 7, nos. 1/2, pp. 48–54,
2003 年.
177. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “A Humanlike Grasping Force Planner for Object
Manipulation by Robot Manipulators,” Cybernetics and Systems, vol. 34, no. 8, pp. 645–662, 2003 年.
178. 寺本顕武，岩堀将親，渡辺桂吾 “主曲率を計測する音響触覚系の実現,” 日本機械学会誌論文集（C 編），
vol. 69, No. 684, pp. 2057–2063, 2003
179. 永田寅臣，楠本幸裕， 渡辺桂吾，津田邦博，安田仁徳，尾本正明，横山和彦，“ボールエンド砥石のた
めのハイブリッド・モーション／力制御法の開発とペットボトル金型の磨きロボットへの適用実験”，
精密工学会誌，Vol. 70, No. 1, pp. 59–64, 2004 年.
180. L. Udawatta, K. Watanabe, K. Kiguchi, and K. Izumi, “Solution to Global Stability of Fuzzy Regulators via
Evolutionary Computation,” J. of Applied Soft Computing, Vol. 4, no. 1, pp. 25–34, 2004 年.
181. Koliya Pulasinghe, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Modular Fuzzy-Neuro Controller Driven by Spoken Language Commands,” IEEE Trans. on Systems, Man and Cybernetics, Part B,
vol. 34, no. 1, pp. 293–302, 2004 年.
182. K. Kiguchi, Keigo Watanabe, and Toshio Fukuda, “Trajectory Planning of Mobile Robots Using DNA Computing,” Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII) vol. 8, no. 3,
pp. 295–301, May 2004 年.
183. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Perception Control with Improved Expectation Learning Through Multi-Layered Neural Networks,” IEEE Trans. on Systems, Man and
Cybernetics, Part B, vol. 34, no. 3, pp. 1582–1587, 2004 年.
184. K. Kiguchi, Koya Iwami, Keigo Watanabe, and Toshio Fukuda, “Controller Adjustment of an Exoskeleton
Robot for Shoulder Motion Assistance,” Journal of Robotics and Mechatronics, vol. 16, no. 3, pp. 245–255,
2004 年.
185. Xin Yang, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “A Decentralized Control System for
Cooperative Transportation by Multiple Non-holonomic Mobile Robots,” Int. J. Control, vol. 77, no. 10,
pp. 949–963, 2004 年.
186. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Neural Network Based Expectation Learning in Perception Control: Learning and Control with Unreliable Sensory System,” Artificial
Life and Robotics, vol. 8, no. 2, pp. 147–152, 2004 年.
– 19 –
187. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of 3-DOF Underactuated
Manipulator Using Fuzzy Based Switching,” Artificial Life and Robotics, vol. 8, no. 2, pp. 153–58, 2004 年.
188. T. Nanayakkara, K. Watanabe, K. Kiguchi, and K. Izumi, “Evolving a Multiobjective Obstacle Avoidance
Skill of a Seven-Link Manipulator Subjected to Constraints,” Int. J. Systems Science, vol. 35, no. 3, pp.
167–178, 2004 年.
189. Sherwin A. Guirnaldo, Keigo Watanabe and Kiyotaka Izumi, “Enhancing the Awareness of Decentralized
Cooperative Mobile Robots Through Active Perceptual Anchoring,” International Journal of Control, Automation and Systems, vol. 2, no. 4, pp. 450–462, December 2004 年
190. Amitava Chatterjee and Keigo Watanabe, “An Adaptive Fuzzy Strategy for Motion Control of Robot Manipulators,” Soft Computing, Vo. 9, No. 3, pp. 185–193, 2005 年 (Published online: 31 December 2003)
191. 永田寅臣，渡辺桂吾，楠本幸裕，安田仁徳，津田邦博，塚本 治，尾本正明，芳賀善九，長谷哲男，
“位置フィードバックループと力フィードバックループの弱干渉を用いたオープンアーキテクチャ型
ハイブリッド制御法（金型磨きロボットへの適用） ”, 日本機械学会論文集（C 編）, Vol. 71, No. 701,
pp. 178–184, 2005
192. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “Adaptive Actor-Critic Learning for the Control
of Mobile Robots by Applying Predictive Models,” Soft Computing, vol. 9, no. 11, pp. 835–845, 2005
(Published online: 9 April 2005)
193. Keigo Watanabe, Kiyotaka Izumi, Junnosuke Maki, and Katsuharu Fujimoto, A Fuzzy Behavior-Based
Control for Mobile Robots Using Adaptive Fusion Units, J. of Intelligent and Robotic Systems, vol. 42, no.
1, pp. 27–49, 2005
194. Xin Yang, Keigo Watanabe, and Kiyotaka Izumi, “A Concept of Common Reference Object to the Cooperative Transportation of Multiple Mobile Robots,” KES Journal, vol.9, no.3, pp. 209–221, 2005
195. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “A Study on Constructing a Neuro-interface Using
the Concept of a Virtual Master-Slave System,” Artificial Life and Robotics, vol. 9, no. 1, pp. 51–57, 2005
196. Amitava Chatterjee, Koliya Pulasinghe, Keigo Watanabe, and Kiyotaka Izumi, “A Particle Swarm Optimized
Fuzzy-Neural Network for Voice-Controlled Robot Systems,” IEEE Trans. on Industrial Electronics, Special
Section on Human-Robot Interface, vol. 52, no. 6, pp. 1478–1489, December 2005
197. Tomohiro Yamaguchi, Keigo Watanabe, and Kiyotaka Izumi, “Neural Network Approach to Acquiring FreeGait Motion of Quadruped Robots in Obstacle Avoidance,” Artificial Life and Robotics, vol. 9, no. 4,
188–193, 2005
198. Amitava Chatterjee and Keigo Watanabe, “An Optimized Takagi-Sugeno Type Neuro-fuzzy System for
Modeling Robot Manipulators,” Neural Computing and Applications, vol. 15, no. 1, pp. 55–61, March
2006 (Published online: 19 October 2005)
199. Xinjie Wang, Xuedong Chen, Peigen Li, and Keigo Watanabe, “A Study of Analytical Forward Kinematics
of Multilegged Walking Robot Locomotion,” Machine Intelligence and Robotic Control, vol. 6, no. 2, pp.
29–37, 2004 (printed in July 2006)
– 20 –
200. Fusaomi Nagata and Keigo Watanabe “Feed Rate Control Using a Fuzzy Reasoning for a Mold Polishing
Robot,” J. of Robotics and Mechatronics, vol. 18, no. 1, pp. 76–82, February 2006
201. Samy F. M. Assal, Keigo Watanabe, and Kiyotaka Izumi “Fuzzy Hint Acquisition for the Collision Avoidance Solution of Redundant Manipulators Using Neural Network,” International Journal of Control, Automation and Systems, vol. 4, no.1, pp. 1–13, February 2006
202. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, Minetada Osano, and
Kiyotaka Izumi, “Tracking and Path Planning in Real Time Dynamic Environment for Ubiquitous Robots
Using Single Binocular Vision Systems,” The Journal of Three Dimensional Images, vol. 20, no. 1, pp.
48–53, March 2006
203. Chandima Pathirana, Keigo Watanabe, Kiyotaka Izumi, Aruna Hewawasam, and Lanka Udawatta, “Intelligent Vision System for Dynamic Environments,” Artificial Life and Robotics, vol. 10, no. 1, pp. 59–63,
2006
204. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Learning of Object Identification by Natural Language Controlled Robots,” Engineering Letters, vol. 13, no. 1, pp. 40–45 (EL 13 1 5), May 2006
205. Samy F. M. Assal, Keigo Watanabe, and Kiyotaka Izumi “Neural Network-Based Kinematic Inversion of
Industrial Redundant Robots Using Cooperative Fuzzy Hint for the Joint Limits Avoidance,” IEEE/ASME
Trans. on Mechatronics, vol. 11, no. 5, pp. 593–603, October 2006
206. Kiyotaka Izumi, Keisuke Ichida, and Keigo Watanabe, “Cost Function Analysis of Optimizing Fuzzy Energy
Regions in the Control of Underactuated Manipulators,” Artificial Life and Robotics, vol. 10, no. 2, pp. 171–
175, November 2006
207. Samy F. M. Assal, Keigo Watanabe, and Kiyotaka Izumi “Intelligent Control for Avoiding the Joint Limits
of Redundant Planar Manipulators,” Artificial Life and Robotics, vol. 10, no. 2, pp. 141–148, November
2006
208. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “An Adaptive Actor-Critic Algorithm with MultiStep Simulated Experiences for Controlling Nonholonomic Mobile Robots,” Soft Computing, vol. 11, no. 1,
pp. 81-88, January 2007 (Published online: 15 March 2006)
209. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and Kiyotaka Izumi,
“Kansei and Human Experience Analysis for Mobile Robot Navigation in Ubiquitous Environment,” Artificial Life and Robotics, vol. 11, no. 1, pp. 105–111, January 2007
210. Sisil Kumarawadu, Keigo Watanabe, Kiyotaka Izumi and Kazuo Kiguchi “Neural Network-Based Optimal
Adaptive Tracking Using Genetic Algorithms,” Asian J. of Control, Vol. 8, No. 4, pp. 372–384, February
2007
211. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Controlling a Robot Manipulator with
Fuzzy Voice Commands using a Probabilistic Neural Network,” Neural Computing and Applications, vol.
16, no. 2, pp. 155–166, February, 2007 (Published online: 6 July 2006)
212. Sisil Kumarawadu, Keigo Watanabe, and Tsu-Tian Lee, “High-Performance Object Tracking and Fixation
With an Online Neural Estimator,” IEEE Trans. on Systems, Man and Cybernetics, Part B, vol. 37, no. 1,
pp. 213–223, February 2007
– 21 –
213. Chandimal Jayawardena, Keigo Watanabe and Kiyotaka Izumi, “Posture Control of Robot Manipulators
with Fuzzy Voice Commands Using a Fuzzy Coach-Player System,” Advanced Robotics, vol. 21, no. 3-4,
pp. 293–328, 2007
214. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Learning from Approximate Human Decisions by a Robot,” J. of Robotics and Mechatronics, vol. 19, no. 1, pp. 68–76, 2007
215. F. Nagata, Y. Kusumoto, Y. Fujimoto, and K. Watanabe, “Robotic sanding system for new designed furniture
with free-formed surface,” Robotics and Computer-Integrated Manufacturing, vol. 23, no. 4, pp. 371–379,
August 2007 (Available online 23 June 2006)
216. Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, and Keigo Watanabe, “CAD/CAM-based
Position/Force Controller for a Mold Polishing Robot,” Mechatronics, vol. 17, nos. 4–5, pp. 207–216,
May–June 2007
217. Sherwin Guirnaldo, Keigo Watanabe, and Kiyotaka Izumi “Reinforcement Learning in Partially Observable Environments by Using Expectation and Action Augmented States,” Machine Intelligence and Robotic
Control, vol. 6, no. 3, pp. 101–107, 2004 (printed in May 2007)
218. Guang Lei Liu, Maki K. Habib, Keigo Watanabe, and Kiyotaka Izumi, “The Design of Central Pattern
Generators Based on Matsuoka Oscillator to Generate Human-Like Rhythmic Motion for Biped Robots,” J.
of Advanced Computational Intelligence, vol. 11, no. 8 (Oct), 2007, pp. 946–955
219. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “A Neuro-interface with Fuzzy Compensator for
Controlling Nonholonomic Mobile Robots,” Neural Computing and Applications, to be appeared 2008 (online 9 August 2007)
220. Sajal Chandra Banik, Keigo Watanane, and Kiyotake Izumi, “Improvement of Group Performance of Job
Distributed Mobile Robots by Emotionally Biased Control System,” Artificial Life and Robotics, vol. 12,
no. 1-2, pp. 245–249, March 2008
221. Fusaomi Nagata, Yukihiro Kusumoto, and Keigo Watanabe, “Feed Rate Control Using Fuzzy Reasoning for
NC Machine Tools,” Artificial Life and Robotics, vol. 12, no. 1-2, pp. 250–257, March 2008
222. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, and Nobuhiro Uchida, “Control of Three-Link Underactuated Manipulators Using a Switching Method of Fuzzy Energy Regions,” Artificial Life and Robotics, vol.
12, no. 1-2, pp. 258–263, March 2008
223. Guang Lei Liu, Maki K. Habib, Keigo Watanabe, and Kiyotaka Izumi, “Central Pattern Generators Based
on Matsuoka Oscillators for the Locomotion of Biped Robots,” Artificial Life and Robotics, vol. 12, no. 1-2,
pp. 264–269, March 2008
224. Chandima Dedduwa Pathiranage, Keigo Watanabe and Kiyotaka Izumi, “Fuzzy Kalman Filtering of the
SLAM Problem using Pseudo-linear Models with Two-Sensor Data Association,” International Journal of
Systems, Signal, Control and Engineering, vol. 1, no. 1, pp. 89–100, 2008
225. Sajal Chandra Banik, Keigo Watanabe and Kiyotaka Izumi, “Generation of Cooperative Behavior of Robots
Using a Fuzzy-Markov Emotional Model,” International Journal of Systems, Signal, Control and Engineering, vol. 1, no. 1, pp.101–109, 2008
– 22 –
226. Fusaomi Nagata, Keigo Watanabe, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Kunihiro Tsuda, Osamu
Tsukamoto, Masaki Komino and Yukihiro Kusumoto, “Application of Open Architectural Industrial Robots
And Its Simulation Technique,” International Journal of Computer Research, Vol. 17, No. 1/2, pp. 1–39,
2008.
227. Chandima Dedduwa Pathiranage, Keigo Watanabe, and Kiyotaka Izumi, “Pseudolinear Model Based Solution to the SLAM Problem of Nonholonomic Mobile Robots,” Journal of System Design and Dynamics, vol.
2, no. 4, pp. 962–978, 2008.
228. Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto and Keigo Watanabe, “CAD/CAM-based Position/Force Control for a Ball-end Abrasive Tool and Its Application to an Industrial Robot,” Journal of
Advanced Mechanical Design, Systems, and Manufacturing, vol. 2, no. 4, pp. 742–752, 2008
229. Kiyotaka Izumi, Maki K. Habib, Keigo Watanabe and Ryoichi Sato, “Behavior Selection Based Navigation and Obstacle Avoidance Approach Using Visual and Ultrasonic Sensory Information for Quadruped
Robots,” International Journal of Advanced Robotic Systems, vol. 5, no. 4 pp. 379–388, 2008
230. Chandima Dedduwa Pathiranage, Keigo Watanane, and Kiyotake Izumi, “A Fuzzy Logic Based Approach
to the SLAM Problem using Pseudolinear Models with Multiframe Data Association,” Artificial Life and
Robotics, vol. 13, no. 1, pp. 155–161, Dec. 2008
231. Sajal Chandra Banik, Keigo Watanabe, and Kiyotaka Izumi, “A Computational Model of Emotion through
the Perspective of Benevolent Agents for a Cooperative Task,” Artificial Life and Robotics, vol. 13, no. 1,
pp. 162–166, Dec. 2008
232. Fusaomi Nagata and Keigo Watanabe, “Fine Gain Tuning for Model-Based Robotic Servo Controllers Using
Genetic Algorithms,” Advances in Computer Science and Engineering, vol. 2, no. 3, pp. 201–219, 2008.
233. Fusaomi Nagata, Yukihiro Kusumoto, and Keigo Watanabe, “Intelligent machining system for the artistic
design of wooden paint rollers,” Robotics and Computer-Integrated Manufacturing, vol. 25, no. 3, pp.
680–688, 2009
234. 永田寅臣，谷慎太郎，溝渕貴徳，長谷哲男，芳賀善九，尾本正明，渡辺桂吾， “コンプライアンス特
性を有するデスクトップ型 NC 工作機械の開発と LED レンズ金型仕上げへの適用実験”, 日本機会学
会論文集（C 編），vol. 75, no. 752, pp. 292–300, 2009.
235. Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Keigo Watanabe, “A Desktop NC Machine
Tool with a Position/Force Controller Using a Fine Velocity Pulse Converter,” Mechatronics, 2009, vol. 19,
No. 5, pp. 671–679, 2009
236. Chandima Dedduwa Pathiranage, Keigo Watanane, and Kiyotake Izumi, “T-S Fuzzy Model Adopted SLAM
Algorithm with Linear Programming Based Data Association for Mobile Robots,” Soft Computing, accepted
for publication, 2009
237. F. Nagata, T. Hase, Z. Haga, M. Omoto and K. Watanabe, “Intelligent Desktop NC Machine Tool with
Compliant Motion Capability,” Artificial Life and Robotics, vol. 13, no. 2, pp. 423–427, 2009
238. 一田 啓介，渡辺桂吾，泉 清高，“劣駆動マニピュレータのファジィエネルギー領域切換え制御法
における射影形態を利用したエネルギー領域設計,” 日本知能情報ファジィ学会，掲載予定，2009
– 23 –
239. Fusaomi Nagata, Takashi Tanabe, Go Matsumura, Keigo Watanabe, Maki K. Habib, Tetsuo Hase and Zenku
Haga, “Position-based impedance control using inner servo system and its application to a desktop NC
machine tool,” Int. J. Mechatronics and Manufacturing Systems, accepted, 2009
240. A. G. Buddhika P. Jayasekara, Keigo Watanabe, Kiyotaka Izumi, and Maki K. Habib “Controlling a robot
manipulator with fuzzy voice commands guided by visual motor coordination,” Int. J. Mechatronics and
Manufacturing Systems, accepted, 2009
– 24 –
3. International Proceedings
3.1 Full Paper Review
1. K. Watanabe and S.G. Tzafestas, “Generalized Fixed-Interval Smoothers for Discrete-Time Systems with
Predictive Information,” 8th IFAC/IFORS Symposium on Identification and Systems Parameter Estimation,
August 27-31, Beijing, China, 1988, Vol. II, pp. 872–877.
2. K. Watanabe and S.G. Tzafestas, “A U-D Fixed-Interval Smoother in Backward-Pass Realization,” 3rd IFAC
International Symposium on Adaptive Systems in Control and Signal Processing (ACASP), April 19–21,
Glasgow, 1989, pp. 495–500.
3. S.G. Tzafestas and K. Watanabe, “Some Results on The Estimation and Control of Faulty Dynamic Systems,” ECC’91(European Control Conference), July 2–5, Grenoble, France, 1991, pp. 1–5.
4. K. Watanabe, K. Ikeda, T. Fukuda, and S.G. Tzafestas, “Adaptive Generalized Predictive Control using a
State-Space Approach,” IROS ’91(IEEE/RSJ International Workshop on Intelligent Robots and Systems ’91),
November 3–5, Osaka, Japan, 1991, Vol. 3, pp. 1609–1613.
5. H. Wada, T. Fukuda, K. Kosuge, K. Watanabe, F. Arai, and H. Matsuura, “Impact Sound Control by Learning
Control,” IROS ’91(IEEE/RSJ International Workshop on Intelligent Robots and Systems ’91), November
3–5, Osaka, Japan, 1991, Vol. 2, pp. 655–660.
6. K. Watanabe and S.G. Tzafestas, “A Force Control Method using the Relative Motion between the Manipulator and a Workpiece,” IFAC World Congress 1993, Sydney, Australia, July 19–23, 1993, Vol. 4, pp.
513–516.
7. K. Watanabe, J. Tang, M. Nakamura, S. Koga, and T. Fukuda, “Mobile Robot Control using Fuzzy-Gaussian
Neural Networks,” IROS’93, Yokohama, Japan, July 26–30, 1993, Vol. 2, pp.919–925.
8. H. Wada, T. Fukuda, K. Kosuge, F. Arai and K. Watanabe, “Damping Control with Consideration of Dynamics of Environment,” IROS’93, Yokohama, Japan, July 26–30, 1993, Vol. 3, pp. 1516–1521.
9. M. Teshnehlab and K. Watanabe, “Neural Networks-based Self-tuning Controller Using the Learning of Sigmoid Functions,” 1993 IEEE/Nagoya University WWW On Learning and Adaptive System, Nagoya, Japan,
Oct. 22–23, 1993, pp. 31–38.
10. K. Watanabe, K. Hara, and S.G. Tzafestas, “Fuzzy Controller Design using the Mean-Value-based Functional Reasoning,” IJCNN’93 Nagoya, Nagoya, Japan, Oct. 25–29, 1993, Vol. 3, pp. 2983–2986.
11. M. Teshnehlab and K. Watanabe, “The High Flexibility and Leaning Capability of Neural Networks with
Leaning Bipolar and Unipolar Sigmoid Functions,” Procs. of Japan-USA Flexible Automation, Kobe, Japan,
August 27–30, 1994, Vol. 3, pp. 1453–1460.
12. K. Watanabe, K. Hara, S. Koga, and S.G. Tzafestas, “Mean-Value-based Functional Reasoning and Its
Realization as a Fuzzy-Neural-Network Controller,” Procs. of 1st Asian Control Conference, Tokyo, Japan,
August 27–30, 1994, Vol. 3, pp. 435–438.
13. M. Teshnehlab and K. Watanabe, “A Feedback-Error-Learning by using Flexible Star Network,” Procs. of
1st Asian Control Conference, Tokyo, Japan, August 27–30, 1994, Vol. 3, pp. 475–478.
– 25 –
14. M. Teshnehlab and K. Watanabe, “A Fuzzy neural network Controller Based on Gaussian Potential Functions,” Proc. of 3rd Int. Conference on Fuzzy Logic, Neural Nets and Soft Computing (IIZUKA ’94), Iizuka,
Japan, August 1–7, 1994, pp. 193–196.
15. M. Teshnehlab and K. Watanabe, “A Fuzzy Gaussian Potential Neural Network Based on Input-dataFunctional Reasoning,” Proc. of 1994 IEEE/Nagoya University World Wisemen/women Workshop (WWW)
on Fuzzy Logic and Neural Network/Genetic Algorithms, Nagoya, Japan, August 9–10, 1994, pp. 14–22.
16. K. Watanabe, “Stochastic Fuzzy Control – Part I: Theoretical Derivation,” Procs. of FUZZ-IEEE/IFES ’95,
March 20–24, 1995, Yokohama, Vol. 2, pp. 547–554.
17. J. Tang, A. Nomiyama and K.Watanabe, “Stochastic Fuzzy Control Law for Path Tracking in Mobile Robot,”
Procs. of 1996 Japan-U.S.A. Symposium on Flexible Automation, Boston, July 1996, Vol. 1, pp. 615–622
18. K. Watanabe, “Stochastic Fuzzy Control — Part II: Relationships Among a Priori Probabilities, Fuzzy Sets,
and Control Rules,” Proc. of the 4th International Conference on Soft Computing, Sept. 30– Oct. 5, 1996,
Iizuka, Vol. 1, pp. 358–362.
19. K. Watanabe, A. Nomiyama, and J. Tang, “A Design of Stochastic Fuzzy Controller Using a Robust State
Feedback Stabilization,” Proc. of the 4th International Conference on Soft Computing, Sept. 30–Oct. 5,
1996, Iizuka, Vol. 1, pp. 378–383
20. J. Tang, K. Watanabe, and Y. Shiraishi, “Design of Traveling Experiment of an Omnidirectional Holonomic
Mobile Robot,” 1996 IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems (IROS96), Osaka, Japan,
Nov. 4–8, 1996, Vol. 1, pp. 66–73.
21. K. Izumi and K. Watanabe, “Adaptive Robust Control with Optimal Servo Mechanism for Uncertain Nonlinear Systems,” The 35th IEEE Conf. on Decision and Control, Kobe, Japan, Dec. 11–13, 1996, pp. 386–391.
22. K. Izumi and K. Watanabe, “Fuzzy Behavior-Based Tracking Control for a Mobile Robot,” 2nd Asian Control Conference, Seoul, Korea, July 22–25, 1997, Vol. 1, pp. 685–688.
23. K. Izumi, M.M.A. Hashem, and K. Watanabe, “An Evolution Strategy with Competing Subpopulations,”
1997 IEEE Int. Sympo. on Computational Intelligence in Robotics and Automation (CIRA’97), Monterey,
California, July 10–11, 1997, pp. 306–311.
24. K. Sato, K. Watanabe, M. Oya, and T. Kobayashi, “H∞ control of description systems with scheduling
parameter,” The IEEE Singapore Int. Sympo. on Control Theory and Applications (SISCTA’97), Singapore,
July 29–30, 1997, pp. 333–339.
25. J. Tang, K. Watanabe, and T. Miyazaki, “A Gain Design Technique for Optimal Controller of Mobile Robot
by Using Genetic Algorithms,” 3rd Asian Conference on Robotics and Its Application (3rd ACRA), Tokyo,
Oct. 28–31, 1997, pp. 379–385.
26. K. Watanabe, “Control of an Omnidirectional Mobile Robot,” Procs. of the 2nd Int. Conf. on Knowledgebased Intelligent Electronic Systems (KES ’98), Adelaide, Australia, April 21–23, 1998, Vol. 1, pp. 51–60.
27. K. Izumi, K. Watanabe, and T. Hirao, “Coordinate Force Control for Different Type of Manipulators Using
a Fuzzy Compensator, ” Procs. of the 2nd Int. Conf. on Knowledge-based Intelligent Electronic Systems
(KES ’98), Adelaide, Australia, April 21–23, 1998, Vol. 3, pp. 462–467.
– 26 –
28. J. Tang, K. Kuribayashi, K. Watanabe and Z. Goto, “Neural-based Fuzzy Logic Control For Robot Manipulators,” Procs. of the 2nd Int. Conf. on Knowledge-based Intelligent Electronic Systems (KES ’98),
Adelaide, Australia, April 21–23, 1998, Vol. 3, pp. 468–473.
29. K. Watanabe, K. Izumi, and F. Han, “Stochastic Fuzzy Control Using Multiple Linear Dynamic Models,”
Procs. of the 2nd Int. Conf. on Knowledge-based Intelligent Electronic Systems (KES ’98), Adelaide,
Australia, April 21–23, 1998, Vol. 3, pp. 474–482.
30. K. Izumi, K. Watanabe, and T. Miyazaki, “Fuzzy Behavior-based Control for a Miniature Mobile Robot,”
Procs. of the 2nd Int. Conf. on Knowledge-based Intelligent Electronic Systems (KES ’98), Adelaide,
Australia, April 21–23, 1998, Vol. 3, pp. 483–490.
31. K. Watanabe, K. Sato, and K. Izumi, “Control for a Six-Degree-of-Freedom Omnidirectional Mobile Manipulator,” Procs. of the 3rd Int. Conference on Advanced Mechatronics (ICAM’98), Okayama, Japan, August
3–8, 1998, Vol. 2, pp. 710–715.
32. K. Sato, K. Watanabe, K. Izumi, and M. Watanabe, “An Adaptive PI Control System for an Omnidirectional
Mobile Robot,” Procs. of the 3rd Int. Conference on Advanced Mechatronics (ICAM’98), Okayama, Japan,
August 3–8, 1998, Vol. 2, pp. 704–709.
33. J. Tang, K. Kuribayashi, K. Watanabe, and T. Kamiike, “Servo Control of a Mobile Robot by Using Genetic
Algorithms,” Procs. of the 3rd Int. Conference on Advanced Mechatronics (ICAM’98), Okayama, Japan,
August 3–8, 1998, Vol. 2, pp. 750–755.
34. K. Sato and K. Watanabe, “An Adaptive PI Control System for an Omnidirectional Mobile Robot with Three
Orthogonal-Wheel Assemblies,” Procs. of the IEEE ROMAN’98, IEEE Int. Workshop on Robot and Human
Communication, Takamatsu, Kagawa, Japan, Sept. 30–Oct. 2, 1998, pp. 411–417.
35. K. Sato, K. Watanabe, K. Izumi, and M. Watanabe, “Improvable Transient Response of an Adaptive PI
Control for an Omnidirectional Mobile Robot,” Procs. of the 4th Japan-France/2nd Asia-Europe Congress
on Mechatronics, Kitakyushu, Fukuoka, Japan, Oct. 6–8, 1998, Vol. 1, pp. 220–225.
36. F. Nagata, K. Watanabe, K. Sato, and K. Izumi, “An Application for Polishing Using Impedance Control with
Fuzzy Environment Models,” Procs. of the 4th Japan-France/2nd Asia-Europe Congress on Mechatronics,
Kitakyushu, Fukuoka, Japan, Oct. 6–8, 1998, Vol. 1, pp. 237–242.
37. K. Izumi, H. Tamura, K. Watanabe, and K. Sato, “Task-Oriented Optimal Configuration Structure for Cellular Robot Systems,”Procs. of the 4th Japan-France/2nd Asia-Europe Congress on Mechatronics, Kitakyushu, Fukuoka, Japan, Oct. 6–8, 1998, Vol. 1, pp. 322–325.
38. M.M.A. Hashem, K. Watanabe, and K. Izumi, “On the Performance Analysis of a Class of Evolution Strategies,” Procs. of the 5th Int. Conference on Soft Computing (IIZUKA’98), Iizuka, Fukuoka, Japan, Oct.
16–20, 1998, Vol. 2, pp. 857–860.
39. K. Izumi, K. Watanabe, and M.M.A. Hashem, “An Evolution Strategy Using Statistical Information of
Subgroups,” Procs. of the 5th Int. Conference on Soft Computing (IIZUKA’98), Iizuka, Fukuoka, Japan,
Oct. 16–20, 1998, Vol. 2, pp. 861–864.
– 27 –
40. M.M.A. Hashem, K. Watanabe and K. Izumi, “Evolutionary Optimal Trajectory Planning for Mobile Robots
by Sensing Polygonal Obstacles as Circles,” Procs. of IMEKO XV World Congress, Osaka, Japan, June 13–
18, 1999, vol. X, pp. 81–88.
41. M.M.A. Hashem, K. Watanabe and K. Izumi, “Autonomous Trajectory Planning of Mobile Robots Using
an Evolution Strategy,” Procs. of the 14th World Congress of International Federation of Automatic Control
(IFAC’99), Beijing, P.R. China, July 5–9, 1999, vol. Q, pp. 197–202.
42. X.D. Chen, K. Watanabe and K. Izumi, “Kinematic Solution of a Quadruped Walking Robots — Posture
Analysis of TITAN VIII,” Procs. of the 14th World Congress of International Federation of Automatic
Control (IFAC’99), Beijing, P.R. China, July 5–9, 1999, vol. B, pp. 343–348.
43. K. Izumi, K. Watanabe and M. Misumi, “Coordinative Control of Different Kind of Manipulators Using
an Incremental Fuzzy Compensator,” Procs. of the 14th World Congress of International Federation of
Automatic Control (IFAC’99), Beijing, P.R. China, July 5–9, 1999, vol. M, pp. 347–352.
44. K. Watanabe, M.M.A. Hashem and K. Izumi, “Global Path Planning of Mobile Robots as an Evolutionary
Control Problem,” Procs. of European Control Conference (ECC’99), Karlsruhe, August 31–Sept. 3, 1999,
F1067-2.pdf
45. K. Izumi and K. Watanabe, “Module Learning of Fuzzy Behavior-Based Control for a Mobile Robot,” Procs.
of European Control Conference (ECC’99), Karlsruhe, August 31–Sept. 3, 1999, F1051-5.pdf
46. F. Nagata, K. Watanabe and K. Izumi, “Position-Based Impedance Control Using a Fuzzy Compensator,”
Procs. of the 3rd Int. Conf. on Knowledge-based Intelligent Information Engineering Systems (KES ’99),
Adelaide, Australia, August 31–Sept. 1, 1999, pp. 125–128.
47. K. Kiguchi, K. Watanabe, K. Izumi, T. Fukuda, “Two-Stage Adaptation of a Position/Force Robot Controller
– Application of Soft Computing Techniques,” Procs. of the 3rd Int. Conf. on Knowledge-based Intelligent
Information Engineering Systems (KES ’99), Adelaide, Australia, August 31–Sept. 1, 1999, pp. 141–144.
48. K. Watanabe, K. Kiguchi, Y. Kunitake, and K. Izumi, “Path Planning for an Omnidirectional Mobile Manipulator by Evolutionary Computation, ” Procs. of the 3rd Int. Conf. on Knowledge-based Intelligent
Information Engineering Systems (KES ’99), Adelaide, Australia, August 31–Sept. 1, 1999, pp. 135–140.
49. F. Nagata, K. Watanabe, K. Sato and K. Izumi, “Generalized Fuzzy Environment Models Learned with
Genetic Algorithms for a Robotic Force Control,” IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems
(IROS’99), Kyongju, Korea, Oct. 17–21, 1999, Vol. 1, pp. 590–596.
50. K. Izumi, K. Watanabe and S.-H. Jin, “Obstacle Avoidance of Mobile Robot Using Fuzzy Behavior-Based
Control with Module Learning,” IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems (IROS’99), Kyongju, Korea, Oct. 17–21, 1999, Vol. 1, pp. 454–459.
51. K. Watanabe, L. Udawatta, K. Kiguchi, and K. Izumi, “Control of Chaotic Systems Using Fuzzy ModelBased Regulators,” Proc. of 7th International Workshop on Rough Sets, Fuzzy Sets, Data Mining, and
Granular-Soft Computing (RSFDGrC’99), Ube, Yamaguchi, Japan, Nov. 9–11, 1999, pp. 249–256.
52. P. Dassanayake, K. Watanabe and K. Izumi, “Fuzzy Behavior-Based Control for the Obstacle Avoidance of
Multi-link Manipulators,” Proc. of 7th International Workshop on Rough Sets, Fuzzy Sets, Data Mining, and
Granular-Soft Computing (RSFDGrC’99), Ube, Yamaguchi, Japan, Nov. 9–11, 1999, pp. 257–265.
– 28 –
53. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “Application of Multiple Fuzzy-Neuro Force Controllers
in an Unknown Environment Using Genetic Algorithms,” Procs. of IEEE International Conference on
Robotics and Automation (ICRA’2000), April 24–28, 2000, San Francisco, CA, pp. 2106–2111.
54. P. Dassanayake, K. Watanabe, K. Kiguchi, and K. Izumi, “Fuzzy Behavior-Based Approach for the Task
Control of a Six-Link Manipulator,” Procs. of Asian Fuzzy Systems Symposium 2000 (AFSS2000): International Symposium on Theory and Applications of Soft Computing, Tsukuba, Japan, vol. 2, May 31–June 3,
2000, pp. 658–663.
55. K. Kiguchi, H. Miyaji, K. Watanabe, K. Izumi, and T. Fukuda, “Design of Neuro Force Controllers for
General Environments Using Genetic Programming,” Procs. of Asian Fuzzy Systems Symposium 2000
(AFSS2000): International Symposium on Theory and Applications of Soft Computing, Tsukuba, Japan,
vol. 2, May 31–June 3, 2000, pp. 668–673.
56. F. Nagata and K. Watanabe, “An Experiment on Sanding Task Using Impedance Controlled Manipulator
with Vibrational Type Tool,” Procs. of The Third Asian Control Conference (ASCC), Shanghai, China, July
4–7, 2000, pp. 2989–2994.
57. T. Yamada, K. Watanabe, K. Kiguchi, K. Izumi, and F. Han, “A Resolved Acceleration Control of an Omnidirectional Mobile Robot with Active Dual-Wheel Caster Assemblies,” Procs. of The Third Asian Control
Conference (ASCC), Shanghai, China, July 4–7, 2000, pp. 1810–1815.
58. K. Izumi, K. Watanabe, K. Kiguchi, and S. Fukahori, “A Holonomic Cooperative Transportation by Multiple
Nonholonomic Mobile Robots Using Fuzzy Behavior-Based Control,” Procs. of The Third Asian Control
Conference (ASCC), Shanghai, China, July 4–7, 2000, pp. 2881–2886.
59. K. Sato, K. Watanabe, H. Honda, and R. Oguro, “A Design Method of an Adaptive PI Controller for a
Positioning Mechanism with Stand,” Proc. of the 2000 IEEE Int. Conf. on Control Applications, Anchorage,
Alaska, September 25–27, 2000, pp. 162–167.
60. F. Nagata and K. Watanabe, “Polishing Robot with Human Friendly Joystick Teaching System,” Proc. of
International Conference on Machine Automation (ICMA2000), September 27–29, 2000, Osaka, pp. 141–
146.
61. K. Izumi, K. Watanabe, T. Shimokawa, and K. Kiguchi, “Facial Image Recognition System Using an RBF
Neural Network Optimally Constructed by GA,” Proc. of IIZUKA 2000 (6th International Conference on
Soft Computing), Iizuka, Japan, October 1–4, 2000, pp. 119–124 (CD-ROM).
62. L. Udawatta, K. Watanabe, K. Kiguchi, and K. Izumi, “Fuzzy-Chaos Hybrid Controller for 3-Dimensional
Attractors,” Proc. of IIZUKA 2000 (6th International Conference on Soft Computing), Iizuka, Japan, October
1–4, 2000, pp. 459–464 (CD-ROM) (Student Paper Award).
63. T. Nanayakkara, K. Watanabe, K. Kiguchi, and K. Izumi, “Evolving Obstacle Avoidance Skill of a SevenLink Redundant Manipulator Subjected to End-Effector Working Constraints,” Proc. of IIZUKA 2000 (6th
International Conference on Soft Computing), Iizuka, Japan, October 1–4, 2000, pp. 684–689 (CD-ROM).
64. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “Generation of Adjustment Strategy of Fuzzy-Neuro
Force Controllers using Genetic Algorithms with Fuzzy Evaluation,” Proc. of IECON, Nagoya, October
22–28, 2000, pp. 620–625.
– 29 –
65. T. Nanayakkara, K. Watanabe, K. Kiguchi, and K. Izumi, “Controlling Multi-Link Manipulators by Fuzzy
Selection of Dynamic Models,” Proc. of IECON, Nagoya, October 22–28, 2000, pp. 638–643.
66. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “Adaptive Navigation Control for a Quadruped Robot
Based on ART and Fuzzy Logic,” Proc. of IECON, Nagoya, October 22–28, 2000, pp. 626–631.
67. F. Nagata, K. Watanabe, S. Hasino, H. Tanaka, T. Matsuyama, and K. Hara, “Polishing Robot Using a
Joystick Controlled Teaching System,” Proc. of IECON, Nagoya, October 22–28, 2000, pp. 632–637.
68. K. Kiguchi, S. Kariya, T. Niwa, K. Watanabe, K. Izumi, and T. Fukuda, “Design of an Exoskeletal Robot
for Human Elbow Motion Support,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and
Systems, Takamatsu, Vol. 1, Oct. 30–Nov. 5, 2000, pp. 383–388.
69. K. Teramoto and K. Watanabe, “Principal Curvature Estimation by Acoustical Tactile Sensing System,”
Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Vol. 2, Oct.
30–Nov. 5, 2000, pp. 1522–1527.
70. P. Dassanayake, K. Watanabe, K. Kiguchi, and K. Izumi, “Fuzzy Behavior-Based Motion Planning for the
PUMA Robot,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu,
Vol. 3, Oct. 30–Nov. 5, 2000, pp. 1912–1917.
71. Kazuo Kiguchi, Tsukasa Murakami, Thrishantha Nanayakkara, D. S. Necsulescu, Keigo Watanabe, and
Toshio Fukuda, “Temporal Environment Models for Contact Tasks of Teleoperated Manipulator with Time
Delay,” Proc. of the 2nd Int. Symposium on Mixed Reality (ISMR2001), 2001, pp.141–142.
72. K. Watanabe, T. Yamaguchi, K. Izumi, and K. Kiguchi, “Fuzzy Control of Dynamic Locomotion by Using
Leg-Force Distributions of Quadruped Robots,” Preprints of the IFAC Workshop on Mobile Robot Technology, May 20–23, 2001, Jejudo Island, Korea, pp. 166–171.
73. F. Nagata, K. Watanabe and K. Izumi, “Furniture Polishing Robot Using a Trajectory Generator Based on
Cutter Location Data,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation (ICRA2001), May 21–26,
2001, Seoul, Korea, pp. 319–324.
74. T. Yamada, K. Watanabe, K. Kiguchi, and K. Izumi, “Acquisition of Fuzzy Control Based Exercises of a
Rings Gymnastic Robot,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation (ICRA2001), May
21–26, 2001, Seoul, Korea, pp. 2584–2589.
75. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “Fuzzy-Neuro Control of an Exoskeletal Robot for
Human Elbow Motion Support,” Proc. of 2001 IEEE Int. Conf. on Robotics and Automation (ICRA2001),
May 21–26, 2001, Seoul, Korea, pp. 3668–3673.
76. Thrishantha Nanayakkara, Kazuo Kiguchi, Tsukasa Murakami, Keigo Watanabe, Kiyotaka Izumi, “Skillful
Adaptation of a 7-DOF manipulator to Avoid Moving Obstacles in a Teleoperated Force Control Task,”
Proc. of 6th IEEE International Symposium on Industrial Electronics (ISIE-2001), June 12–16, 2001, Pusan,
Korea, vol. 3, pp. 1982–1987.
77. F. Nagata, K. Watanabe, K. Kiguchi, K. Tsuda, S. Kawaguchi, Y. Noda, and M. Komino, “Joystick Teaching
System for Polishing Robots Using Fuzzy Compliance Control,” Proc. of 2001 IEEE Int. Symp. on Computational Intelligence in Robotics and Automation (IEEE CIRA 2001), July 29–Aug. 1, 2001, Banff, Canada,
pp. 362–367.
– 30 –
78. T. Yamada, K. Watanabe, K. Kiguchi, and K. Izumi, “Acquisition of Exercise Skill Represented by Fuzzy
Control Rules for a Rings Gymnastic Robot,” Proc. of 2001 IEEE Int. Symp. on Computational Intelligence
in Robotics and Automation (IEEE CIRA 2001), July 29–Aug. 1, 2001, Banff, Canada, pp. 368–373.
79. Kazuo Kiguchi, Keigo Watanabe, and Toshio Fukuda, “Trajectory Planning of Mobile Robots Using DNA
Computing,” Proc. of 2001 IEEE Int. Symp. on Computational Intelligence in Robotics and Automation
(IEEE CIRA 2001), July 29–Aug. 1, 2001, Banff, Canada, pp. 380–385.
80. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “An Upper Drive-Active Dual-Wheel
Caster Assembly and Its Application to Constructing Holonomic and Omnidirectional Platform,” Preprints
of The Fourth IFAC Symposium on Intelligent Autonomous Vehicle (IAV2001), September 5–7, 2001, Sapporo, Japan, pp. 442–447.
81. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Energy Optimization of Switching
Torque Computed Method for Underactuated Manipulators,” Preprints of The Fourth IFAC Symposium on
Intelligent Autonomous Vehicle (IAV2001), September 5–7, 2001, Sapporo, Japan, pp. 394–399.
82. Kiyotaka Izumi, Keigo Watanabe, and Kazuo Kiguchi, “Adaptive Behavioral Fusion of Fuzzy BehaviorBased Control for Khepera,” Preprints of The Fourth IFAC Symposium on Intelligent Autonomous Vehicle
(IAV2001), September 5–7, 2001, Sapporo, Japan, pp. 296–301.
83. Keigo Watanabe, Rafiuddin Syam, Kiyotaka Izumi, and Kazuo Kiguchi, “Adaptive Actor-Critic Designs
with Current Estimated or Predicted Value-Function,” Proc. of Fifth Int. Conf. on Knowledge-Based Intelligent Information Engineering Systems & Allied Technologies (KES’2001), September 6–8, 2001, Osaka,
Japan, pp. 1308–1318.
84. Rafiuddin Syam, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Adaptive Actor-Critic Design Using Predictive Model and Its Application to Nonholonomic Mobile Robots,” Proc. of Fifth Int. Conf. on
Knowledge-Based Intelligent Information Engineering Systems & Allied Technologies (KES’2001), September 6–8, 2001, Osaka, Japan, pp. 1319–1324.
85. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of 3-DOF Underactuated
Robot Using Switching Computed Torque Method,” Proc. of Fifth Int. Conf. on Knowledge-Based Intelligent Information Engineering Systems & Allied Technologies (KES’2001), September 6–8, 2001, Osaka,
Japan, pp. 1325–1329.
86. Kazuo Kiguchi, Koya Iwami, Tomomi Saza, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, Toshio
Fukuda, “A Study of an Exoskeletal Robot for Human Shoulder Motion Support,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Oct. 29–Nov. 2, 2001, Hawaii, USA,
pp. 2111–2116.
87. Rafiuddin Syam, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of Nonholonomic Mobile
Robot by an Adaptive Actor-Critic Method with Simulated Experience Based Value-Functions,” Proc. of
2002 IEEE Int. Conf. on Robotics and Automation (ICRA2002), May 11–15, 2002, Washington D.C.,
pp. 3960–3965.
88. T. Yamada, K. Watanabe, K. Kiguchi and K. Izumi, “Acquiring Performance Skill of Backward Giant Circle
by a Rings Gymnastic Robot,” Proc. of 2002 IEEE Int. Conf. on Robotics and Automation (ICRA2002),
May 11–15, 2002, Washington D.C., pp. 1565–1570.
– 31 –
89. Kazuo Kiguchi, Koya Iwami, Makoto Yasuda, Hideaki Kurata, Keigo Watanabe, Toshio Fukuda, “Intelligent
Interface and adaptation of an Exoskeletal Robot for Human Shoulder Motion Support Considering Subject’s
Arm Posture,” Proc. of 2002 IEEE Int. Conf. on Robotics and Automation (ICRA2002), May 11–15, 2002,
Washington D.C., pp. 3230–3235.
90. Lanka Udawatta, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Global Stability Condition of
Fuzzy Model-based Controllers via Evolutionary Computation,” Proc. of the 2002 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE2002), Honolulu, Hawaii, May 12–17, 2002, pp. 238–243.
91. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Adaptive Output Tracking of
Partly Known Robotic Systems Using SoftMax Function Networks,” Proc. of the 2002 International Joint
Conference on Neural Networks (IJCNN2002), Honolulu, Hawaii, May 12–17, 2002, pp. 483–488.
92. Kazuo Kiguchi, Shingo Kariya, Takakazu Tanaka, Noritaka Hatao, Keigo Watanabe, Toshio Fukuda, “Intelligent Interface of an Exoskeletal Robot for Human Elbow Motion Support Considering Subject’s Arm
Posture,” Proc. of the 2002 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE2002), Honolulu,
Hawaii, May 12–17, 2002, pp. 1532–1537.
93. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Partitioned NN-Based Control with Guaranteed Tracking Performance,” Proc. of Int. Symposium on Advanced Control of Industrial
Processes (AdCONIP’02), June 10–11, 2002, Kumamoto, Japan, pp. 507–512.
94. Xin Yang, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Coordinated Transportation of a Single
Object by a Group of Nonholonomic Mobile Robots,” Proc. of 6th International Symposium on Distributed
Autonomous Robotic Systems (DARS 02), June 25–27, 2002, Fukuoka, Japan, pp. 175–184.
95. Koliya Pulasinghe, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Voice Communication in Performing a Cooperative Task with a Robot,” Proc. of 6th International Symposium on Distributed Autonomous Robotic Systems (DARS 02), June 25–27, 2002, Fukuoka, Japan, pp. 123–132.
96. Fusaomi Nagata, Keigo Watanabe, Yoshihiro Fujimoto, Kazuo Kiguchi, and Yasuhide Murase, “3D Machining and Finishing System for New Designed Furniture,” Proc. of 2002 Japan-USA Symposium on Flexible
Automation (2002JUSFA), July 15–17, 2002, Hiroshima, Japan, Vol. 3, pp. 1239–1245.
97. Kazuo Kiguchi, Yoshihiro Horiba, Keigo Watanabe, and Toshio Fukuda, “Generation of an Evaluation Function for Adaptation of a Neuro-Fuzzy Force Controller in an Unknown Environment,” Proc. of 2002 JapanUSA Symposium on Flexible Automation (2002JUSFA), July 15-17, 2002, Hiroshima, Japan, Vol. 3, pp.
1391–1397.
98. Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Neural Network-Based Optimal Adaptive Tracking Using Genetic Algorithms,” Proc. of 4th Asian Control Conference (ASCC 2002),
September 25–27, 2002, Singapore, pp. 105–110
99. Fusaomi Nagata and Keigo Watanabe, “Learning of Contact Motion Using a Neural Network and Its Application for Force,” Proc. of 4th Asian Control Conference (ASCC 2002), September 25–27, 2002, Singapore,
pp. 420–424
100. Kiyotaka Izumi, Keigo Watanabe, and Kazuo Kiguchi, “Handstand Performance of Acrobot Using Fuzzy
Model Based Control,” Proc. of 4th Asian Control Conference (ASCC 2002), September 25–27, 2002,
Singapore, pp. 1143–1148
– 32 –
101. Tomohiro Yamaguchi, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Obstacle Avoidance Strategy
for a 4-Legged Robot by Getting-Over and Striding,” Proc. of 4th Asian Control Conference (ASCC 2002),
September 25–27, 2002, Singapore, pp. 1438–1443
102. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Robust Fuzzy Rule Extraction by
Evolutionary Learning for Controlling Underactuated Manipulators” Proc. of 6th International Conference
on Mechatronics Technology, September 29–October 3, 2002, Kitakyushu, Japan, pp. 94–99.
103. Fusaomi Nagata, Keigo Watanabe, Yukihiro Kusumoto, Kazuo Kiguchi, Kunihiro Tsuda, Kazuhiko
Yokoyama, and Naoki Mori, “Flexible Finishing System Using Hyper Cutter Location Data,” Proc. of 6th
International Conference on Mechatronics Technology, September 29–October 3, 2002, Kitakyushu, Japan,
pp. 218–223.
104. Xin Yang, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, “Kinetic Energy Based Potential Field
Method and Its Application in Carrying a Long Object in Narrow Space,” Proc. of 6th International Conference on Mechatronics Technology, September 29–October 3, 2002, Kitakyushu, Japan, pp. 547–552.
105. Rafiuddin Syam, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of Nonholonomic Mobile
Robot by an Adaptive Actor Critic Algorithm with Multi-Step Simulated Experience,” Proc. of 6th International Conference on Mechatronics Technology, September 29–October 3, 2002, Kitakyushu, Japan, pp.
553–558.
106. Kazuo Kiguchi, Makoto Yasuda, Koya Iwami, Keigo Watanabe, and Toshio Fukuda, “Design of an Exoskeletal Robot for Human Shoulder Motion Support Considering a Center of Rotation of the Shoulder
Joint,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 200), September 30–October 4, 2002, Lausanne, Switzerland, pp. 1493–1498.
107. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Learning Sensor Based Obstacle Avoidance Behavior with Unreliable Sensory System Using RBF Neural Network Based Perception
Control,” Proc. of Joint 1st International Conference on Soft Computing and Intelligent Systems and 3rd International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2002), October 21-25, 2002, Tsukuba,
Japan, 22Q2-1 (CD-R) (Excellent Presentation Award)
108. Tomohiro Yamaguchi, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Acquisition of an Obstacle
Avoiding Path in Quadruped Robots,” Proc. of Joint 1st International Conference on Soft Computing and
Intelligent Systems and 3rd International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2002),
October 21-25, 2002, Tsukuba, Japan, 22Q2-2 (CD-R)
109. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “An Adaptive Cooperative Transporting
System by Multiple Mobile Robots,” Proc. of Joint 1st International Conference on Soft Computing and
Intelligent Systems and 3rd International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2002),
October 21-25, 2002, Tsukuba, Japan, 22Q2-3 (CD-R)
110. Kiyotaka Izumi, Keigo Watanabe, and Kazuo Kiguchi,” “Fuzzy Control of Mobile Robots with Japanese
Voice Commands,” Proc. of Joint 1st International Conference on Soft Computing and Intelligent Systems
and 3rd International Symposium on Advanced Intelligent Systems (SCIS & ISIS 2002), October 21-25,
2002, Tsukuba, Japan, 22Q2-4 (CD-R)
– 33 –
111. Keigo Watanabe, Lanka Udawatta, Kiyotaka Izumi, and Kazuo Kiguchi, “Fuzzy Rule Selection of Switching
Controllers for Underactuated Manipulators,” Proc. of Joint 1st International Conference on Soft Computing
and Intelligent Systems and 3rd International Symposium on Advanced Intelligent Systems (SCIS & ISIS
2002), October 21-25, 2002, Tsukuba, Japan, 22Q2-5 (CD-R)
112. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, Reza Shadmehr, “Intelligent Control of a 7DOF Manipulator Based on Model Primitives,” Proc. of The 17th IEEE Int. Symposium on Intelligent
Control (ISIC 02), Oct. 27–30, 2002, Vancouver, BC Canada, pp. 538–543.
113. Kazuo Kiguchi, Ryo Esaki, Takashi Tsuruta, Keigo Watanabe, “An Elbow Joint Motion Support System for
Rehabilitation,” Proc. of International Congress on Biological and Medical Engineering, No.360, Singapore, 2002 (CD-R)
114. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Nonlinear Expectation Learning Through RBF Neural Networks,” Proc. of the 11th International Conference on Advanced Robotics
(ICAR2003), June 30–July 3, 2003, University of Coimbra, Portugal, pp. 311–316
115. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of Underactuated Manipulators Using Fuzzy Based Switching with NN Compensator,” Proc. of the 11th International Conference
on Advanced Robotics (ICAR2003), June 30–July 3, 2003, University of Coimbra, Portugal, pp. 1659–1664
116. Kazuo Kiguchi, Koya Iwami, Keigo Watanabe, and Toshio Fukuda, “Shoulder Joint Motion Support System
for Rehabilitation and Daily Activity,” Prof. of the 11th International Conference on Advanced Robotics
(ICAR2003), June 30–July 3, 2003, University of Coimbra, Portugal, pp. 11–16
117. Keigo Watanabe, Lanka Udawatta, Kiyotaka Izumi and Kazuo Kiguchi, “NN-Compensator with Fuzzy
Based Switching for Controlling 3-DOF Underactuated Manipulator,” Proc. of the 5th IEEE Int. Symp.
on Computational Intelligence in Robotics and Automation (CIRA2003), July 16-20, 2003, Kobe, Japan, pp.
79–84
118. Fusaomi Nagata, Yukihiro Kusumoto, Keigo Watanabe, Kazuo Kiguchi, Kunihiro Tsuda, Kiminori Yasuda,
Kazuhiko Yokoyama, Mayumi Umetsu, Naoki Mori, and Masaaki Omoto, “High Precision Polishing Robot
Using a Learning-Based Surface Following Controller,” Proc. of the 5th IEEE Int. Symp. on Computational
Intelligence in Robotics and Automation (CIRA2003), July 16-20, 2003, Kobe, Japan, pp. 91–96
119. Kazuo Kiguchi, Takakazu Tanaka, Keigo Watanabe and Toshio Fukuda, “Design and Control of an Exoskeleton System for Human Upper-Limb Motion Assist,” Proc. of IEEE/ASME International Conference
on Advanced Intelligent Mechatronics (AIM2003), July 20-24, 2003, Kobe, Japan, pp. 926–931
120. Kazuo Kiguchi, Ryo Esaki, Takashi Tsuruta, Keigo Watanabe and Toshio Fukuda, “An Exoskeleton System for Elbow Joint Motion Rehabilitation,” Proc. of IEEE/ASME International Conference on Advanced
Intelligent Mechatronics (AIM2003), July 20-24, 2003, Kobe, Japan, pp. 1226–1233
121. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “A Common Reference Object Concept
to Cooperative Transportation,” Proc. of 2003 IEEE Int. Conf. on Robotics and Automation (ICRA2003),
Sept. 14–19, 2003, Taipei, Taiwan, pp.515–520
122. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Evolutionary Acquisition of Handstand from Backward Giant Circle by a Three-Link Rings Gymnastic Robot,” Proc. of 2003 IEEE Int. Conf.
on Robotics and Automation (ICRA2003), Sept. 14–19, 2003, Taipei, Taiwan, pp. 779–784
– 34 –
123. Fusaomi Nagata, Keigo Watanabe, Yukihiro Kusumoto, Kunihiro Tsuda, Kiminori Yasuda,
Kazuhiko Yokoyama, and Naoki Mori, “New Finishing System for Metallic Molds Using a Hybrid Motion/Force Control,” Proc. of 2003 IEEE Int. Conf. on Robotics and Automation (ICRA2003), Sept. 14–19,
2003, Taipei, Taiwan, pp. 2171–2175
124. Kazuo Kiguchi, Takakazu Tanaka, Keigo Watanabe, Toshio Fukuda, “Exoskeleton for Human Upper-Limb
Motion Support,” Proc. of 2003 IEEE Int. Conf. on Robotics and Automation (ICRA2003), Sept. 14–19,
2003, Taipei, Taiwan, pp. 2206–2211
125. Kazuo Kiguchi, Ryo Esaki, Takashi Tsuruta, Keigo Watanabe, Toshio Fukuda, “An Exoskeleton for Human
Elbow and Forearm Motion Assist,” Proc. of IEEE/RSJ International Conference on Intelligent Robots and
Systems (IROS’03), October 27-31, 2003, Las Vegas, USA, pp. 3600–3605
126. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “A Neurointerface Using a Concept of Virtual
Master-Slave for Controlling Nonholonomic Mobile Robots,” Proc. of Int. Workshop on Fuzzy Systems
& Innovational Computing 2004 (FIC2004) , Kitakyushu, Japan, June 2–3, 2004, pp. 1–6
127. Fusaomi Nagata, Yukihiro Kusumoto, Keigo Watanabe, Kunihiro Tsuda, Kiminori Yasuda,
Kazuhiko Yokoyama, Masaaki Omoto, and Hiroyuki Miyako, “Polishing Robot for PET Bottle Molds
Using a Learning-Based Hybrid Position/Force Controller,” Proc. of the 5th Asian Control Conference
(ASCC2004), Melbourne, Australia, July 20–23, 2004, pp. 813–820
128. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “A Neurointerface Construction for Controlling
Nonholonomic Mobile Robots by Virtual Master-Slave Concept,” Proc. of Mechatronics & Robotics 2004
(Mechrob04), September 13–15 , 2004, Aachen, Germany, pp. 483–488 (Student Award)
129. Samy Assal, Keigo Watanabe, and Kiyotaka Izumi, “Cooperative Fuzzy Hint Acquisition for Redundant
Manipulators to Avoid the Joint Limits,” Proc. of Mechatronics & Robotics 2004 (Mechrob04), September
13–15 , 2004, Aachen, Germany, pp. 344–349
130. Rafiuddin Syam, Keigo Watanabe, Sang-Ho Jin, and Kiyotaka Izumi, “Control of Nonholonomic Mobile
Robots Using a Neurointerface with a Fuzzy Feedback Compensator,” Proc. of Joint 2nd International
Conference on Soft Computing and Intelligent Systems, and 5th International Symposium on Advanced
Intelligent Systems (SCIS&ISIS2004), Yokohama, Japan, September 21–24, 2004, CD-R (FE-1-1)
131. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Intelligent Sub-coach Construction in a
Fuzzy Coach-Player System for Controlling a Robot Manipulator,” Proc. of Joint 2nd International Conference on Soft Computing and Intelligent Systems, and 5th International Symposium on Advanced Intelligent
Systems (SCIS&ISIS2004), Yokohama, Japan, September 21–24, 2004, CD-R (FE-1-3) (Excellent Presentation Award)
132. Kiyotaka Izumi and Keigo Watanabe, “Switching Fuzzy Energy Method Optimized by Genetic Algorithm
for Controlling Underactuated Manipulators,” Proc. of Joint 2nd International Conference on Soft Computing and Intelligent Systems, and 5th International Symposium on Advanced Intelligent Systems
(SCIS&ISIS2004), Yokohama, Japan, September 21–24, 2004, CD-R (FE-1-4)
133. Sherwin Guirnaldo, Keigo Watanabe and Kiyotaka Izumi, “Active Perceptual Anchoring for Enhancing the
Perception of Cooperative Mobile Robots,” Proc. of Joint 2nd International Conference on Soft Computing
– 35 –
and Intelligent Systems, and 5th International Symposium on Advanced Intelligent Systems (SCIS&ISIS2004),
Yokohama, Japan, September 21–24, 2004, CD-R (FE-1-5)
134. Fusaomi Nagata, Keigo Watanabe, Yukihiro Kusumoto, Kiminori Yasuda, Osamu Tsukamoto, Kunihiro
Tsuda, Masaaki Omoto, Zenko Haga, and Tetsuo Hase, “Generation of Normalized Tool Vector from 3Axis CL Data and Its Application to a Mold Polishing Robot,” Proc. of 2004 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS2004), Sendai, Japan, September 28 – October 2, 2004,
pp. 3971–3976
135. Kiyotaka Izumi, Tomohiro Yamaguchi, Keigo Watanabe, “Free-gait of quadruped robots using neural networks for determining the order of swing leg,” Proc. of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), Sendai, Japan, September 28 – October 2, 2004, pp. 3400–3405
136. Samy F. M. Assal, Keigo Watanabe and Kiyotaka Izumi, “Exploring Motion Acquisition of Manipulators
with Multiple Degrees of Redundancy Using Soft Computing Techniques,” Proc. of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2004), Sendai, Japan, September 28 – October
2, 2004, pp. 3086–3091
137. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Knowledge Acquisition by a Sub-coach in
a Coach-Player System for Controlling a Robot,” Proc. of The 4 th International Conference on Advanced
Mechatronics (ICAM2004), October 3–5, 2004, Asahikawa Hokkaido, Japan, pp. 601–606
138. Kiyotaka Izumi and Keigo Watanabe, “Swing Up of Acrobot Using Fuzzy Model Based Control Considered
with Modeling Errors,” Proc. of The 4 th International Conference on Advanced Mechatronics (ICAM2004),
October 3–5, 2004, Asahikawa Hokkaido, Japan, pp. 304–309
139. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “Neurointerface Based on a Virtual Master-Slave
Concept and Its Feedback Compensation,” Proc. of The 4 th International Conference on Advanced Mechatronics (ICAM2004), October 3–5, 2004, Asahikawa Hokkaido, Japan, pp. 352–357
140. Kiyotaka Izumi, Keigo Watanabe, and Yuya Tamano, “Japanese Voice Interface System with Color Image for
Controlling Robot Manipulators,” Proc. of The 30th Annual Conference of the IEEE Industrial Electronics
Society (IECON ’04), Busan, Korea, November 2–6, 2004, TD6-3 (CD-R)
141. Samy Assal, Keigo Watanabe, and Kiyotaka Izumi, “Cooperative Fuzzy Hint Acquisition for Avoiding Joint
limits of Redundant Manipulators,” Proc. of The 30th Annual Conference of the IEEE Industrial Electronics
Society (IECON ’04), Busan, Korea, November 2–6, 2004, WC5-6 (CD-R)
142. Samy F.M. Assal, Keigo Watanabe, Kiyotaka Izumi “Intelligent Control System for Industrial Redundant
Robots Subject to Joint Limits,” Proc. of the 4th Asian Conf. on Industrial Automation and Robotics
(ACIAR2005), Bangkok, Thailand, May 11–13, 2005, pp. 431–436 (CD-ROM)
143. Samy F.M. Assal, Keigo Watanabe, and Kiyotaka Izumi, “Cooperative Fuzzy Hint Acquisition for Industrial
Redundant Robots to Avoid the Joint Limits,” Proc. of the Fourth IEEE International Workshop on Soft
Computing as Transdisciplinary Science and Technology (WSTST ’05), May 25–27, 2005, Muroran, Japan,
pp. 41–50
144. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, “A Switching Control Based on Fuzzy Energy Region
Method for Underactuated Robots,” Proc. of IEEE Workshop on Advanced Robotics and its Social Impacts
(ARSO ’05), June 12-15, 2005, Nagoya, Japan, TPR-1-3 (CD-R)
– 36 –
145. Keigo Watanabe, Rafiuddin Syam, and Kiyotaka Izumi, “A Neurointerface with an Adaptive Fuzzy Compensator for Controlling Nonholonomic Mobile Robots,” Proc. of IEEE Workshop on Advanced Robotics
and its Social Impacts (ARSO ’05), June 12-15, 2005, Nagoya, Japan, WAmR-1-4 (CD-R)
146. Samy F. M. Assal, Keigo Watanabe and Kiyotaka Izumi, “Neural Network Learning from Hint for the Inverse
Kinematics Problem of Redundant Arm Subject to Joint Limits,” Proc. of 2005 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS2005), August 2–6, 2005, Edmonton, Canada, pp. 821–
826
147. Fusaomi Nagata and Keigo Watanabe, “Advanced Feed Rate Control Using a Fuzzy Reasoning for Mold
Polishing Robots,” Proc. of the 9th International Conference on Mechatronics Technology (ICMT2005),
Kuala Lumpur, Malaysia, December 5–8, 2005, ICMT-21
148. Keigo Watanabe, Hyun-Dong Lee, Sang-Ho Jin, and Kiyotaka Izumi, “Neurointerface with a Neural Network Acquired by Feedback-Error Learning for Controlling Nonholonomic Mobile Robots,” Proc. of the
9th International Conference on Mechatronics Technology (ICMT2005), Kuala Lumpur, Malaysia, December 5–8, 2005, ICMT-236
149. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, and Nobuhiro Uchida, “Design of Switching Control with
Fuzzy Energy Regions Method for Underactuated Manipulators,” Proc. of the 9th International Conference
on Mechatronics Technology (ICMT2005), Kuala Lumpur, Malaysia, December 5–8, 2005, ICMT-124
150. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and Kiyotaka Izumi,
“Accessibility for the Blind in Ubiquitous Environments using Binocular Vision System,” Proc. of the 7th
International Information Technology Conference (IITC2005), November 7–8, 2005, Colombo, Sri Lanka
151. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Learning of Object Identification by Robots
Commanded by Natural Language,” Proc. of The 9th International Conference on Intelligent Autonomous
Systems (IAS-9), Tokyo, Japan, March 7–9, 2006, pp. 913–920
152. Keigo Watanabe and Kiyotaka Izumi, “Biomimetic Machines and Robots: From the Configuration Mimesis
to the Intelligence Mimesis,” Proc. of Joint 3rd International Conference on Soft Computing and Intelligent
Systems and 7th International Symposium on advanced Intelligent Systems (SCIS & ISIS 2006), September
20-24, Tokyo Institute of Technology, Tokyo, Japan, 2006, pp. 6–11
153. Lanka Udawatta, Kiyotaka Izumi, Keigo Watanabe, and Awantha Jayasiri, “Neural Network Based Object
Classifier with Fuzzy Filtered Data for Mobile Robot Navigation,” Proc. of Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced Intelligent
Systems (SCIS & ISIS 2006), September 20-24, Tokyo Institute of Technology, Tokyo, Japan, 2006, pp.
12–17
154. Ayumu Ohshima, Keigo Watanabe, Kiyotaka Izumi, and Shin-ichi Ishii, “Quantification of Robot Actions
Based on Fuzzy-Neural Network in Voice Commanded Coach-Player Systems,” Proc. of Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on advanced
Intelligent Systems (SCIS & ISIS 2006), September 20-24, Tokyo Institute of Technology, Tokyo, Japan,
2006, pp. 18–23
155. Guang Lei Liu, Keigo Watanabe, and Kiyotaka Izumi, “The Parameter Design of Central Pattern Generators
Composed of Some Matsuoka Oscillators for the Leg Movements of Human-like Robots,” Proc. of Joint 3rd
– 37 –
International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on
advanced Intelligent Systems (SCIS & ISIS 2006), September 20-24, Tokyo Institute of Technology, Tokyo,
Japan, 2006, pp. 24–29
156. Keisuke Ichida, Keigo Watanabe, Kiyotaka Izumi, and Nobuhiro Uchida, “Fuzzy Switching Control of
Underactuated Manipulators with Approximated Switching Regions,” Proc. of 2006 IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS2006), October 9–14, 2006, Beijing, China, pp. 586–
591
157. Kiyotaka Izumi, Akihito Tajima, Guang Lei Liu, and Keigo Watanabe, “Design of Coupled Van del Pol
Oscillators for Multi-link Robots,” Proc. of the 32nd Annual Conference of the IEEE Industrial Electronics
Society (IECON ’06), Paris, France, November 7–10, 2006, pp. 4456–4461
158. Chandimal Jayawardena, Keigo Watanabe and Kiyotaka Izumi, “Approximate Decision Making by Natural
Language Commands for Robots,” Proc. of the 32nd Annual Conference of the IEEE Industrial Electronics
Society (IECON ’06), Paris, France, November 7–10, 2006, pp. 4480–4485
159. Kiyotaka Izumi, Keigo Watanabe, Masaaki Shindo and Ryoichi Sato, “Acquisition of Obstacle Avoidance
Behaviors for a Quadruped Robot Using Visual and Ultrasonic Sensors,” Proc. of the 9th International
Conference on Control, Automation, Robotics and Vision (ICARCV 2006), Singapore 5-8, December 2006,
pp. 1495–1500
160. Keigo Watanabe, Kiyotaka Izumi, Kei Shibayama and Kohei Kamohara, “An Approach to Estimating Human Behaviors by Using an Active Vision Head,” Proc. of the 9th International Conference on Control,
Automation, Robotics and Vision (ICARCV 2006), Singapore 5-8, December 2006, pp. 1489–1494
161. Maki K. Habib, Guang Lei Liu, Keigo Watanabe, and Kiyotaka Izumi, “Bipedal Locomotion Control via
CPGs with Coupled Nonlinear Oscillators,” Proc. of IEEE International Conference on Mechatronics
(ICM2007), Kumamoto, Japan, May 8–10, 2007, CD-R (TuA2-B-5)
162. Fusaomi Nagata, Katsutoshi Kuribayashi, Kazuo Kiguchi, and Keigo Watanabe, “Simulation of Fine Gain
Tuning Using Genetic Algorithms for Model-Based Robotic Servo Controllers,” Proc. of 2007 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA2007), June 20-23,
2007, Jacksonville, Florida, USA, pp. 196–201
163. F. Nagata, I. Okabayashi, M. Matsuno, T. Utsumi, K. Kuribayashi and K. Watanabe, “Fine Gain Tuning for
Model-Based Robotic Servo Controllers Using Genetic Algorithms,” The 13th International Conference on
Advanced Robotics (ICAR2007), Jeju, Korea, August 21–24, 2007, pp. 987–992
164. Chandima Dedduwa Pathiranage, Keigo Watanabe, Maki. K. Habib, Kiyotaka Izumi “Mobile Robot Localization and Map Building Based on Pseudolinear Measurement Model,” The 13th International Conference
on Advanced Robotics (ICAR2007), Jeju, Korea, August 21–24, 2007, pp. 906–911
165. Sajal Chandra Banik, Keigo Watanabe and Kiyotaka Izumi, “Intelligent Behavior Generation of Job Distributed Mobile Robots Through Emotional Interaction,” The 13th International Conference on Advanced
Robotics (ICAR2007), Jeju, Korea, August 21–24, 2007, pp. 1215–1219
166. Maki K. Habib, Guang Lei Liu, Keigo Watanabe, and Kiyotaka Izumi, “CPGs with Sensory Feedback for
Adaptive Bipedal Locomotion,” The 13th International Conference on Advanced Robotics (ICAR2007), Jeju,
Korea, August 21–24, 2007, pp. 737–742
– 38 –
167. Keigo Watanabe, Guang Lei Liu, Maki K. Habib, and Kiyotaka Izumi “Neural Oscillators with a Sigmoidal
Function for the CPG of Biped Robot Walking,” Proc. of the 33rd Annual Conference of the IEEE Industrial
Electronics Society (IECON ’07), November 5–8, 2007, Taipei, Taiwan, pp. 128–133
168. Maki K. Habib, Keigo Watanabe, and Kiyotaka Izumi “Biomimetics Robots: From Bio-inspiration to Implementation,” Proc. of the 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON ’07),
November 5–8, 2007, Taipei, Taiwan, pp. 143–148
169. Sajal Chandra Banik, Keigo Watanabe, and Kiyotaka Izumi, “Intelligent Behavior Generation of Benevolent
Agents with a Stochastic Model of Emotion,” Proc. of 14th International Conference on Neural Information
Processing (ICONIP2007), 13-16 November, 2007, Kitakyushu, Japan, pp. 147–156
170. Chandima Dedduwa Pathiranage, Lanka Udawatta, Keigo Watanabe, and Kiyotaka Izumi, “A Fuzzy Logic
Based Approach to the SLAM Problem using Pseudolinear Models with Two Sensors Data Association,”
Proc. of the 3rd International Conference on Information and Automation for Sustainability (ICIAFS 2007),
December 3-4, 2007, Melbourne, Australia, pp. 70–75
171. Keigo Watanabe, Chandima Dedduwa Pathiranage, and Kiyotaka Izumi, “A Fuzzy Kalman Filter Approach
to the SLAM Problem of Nonholonomic Mobile Robots,” Proc. of 17th IFAC World Congress (IFAC WC
2008), Seoul, Korea, July 6-11, 2008, pp. 4600–4605
172. Keigo Watanabe, Akihito Tajima and Kiyotaka Izumi, “Locomotion Pattern Generation of Semi-Looper
Type Robots Using Central Pattern Generators Based on Van der Pol Oscillators,” Proc. of the Sixth International Conference on Industrial Informatics (INDIN 2008), Daejeon, Korea, July 13-16, 2008, pp. 377–382
173. Kiyotaka Izumi, Yuichi Kamada, Keisuke Ichida and Keigo Watanabe, “A Switching Control of Underactuated Manipulators by Introducing a Definition of Monotonically Decreasing Energy,” Proc. of the Sixth
International Conference on Industrial Informatics (INDIN 2008), Daejeon, Korea, July 13-16, 2008, pp.
383–388
174. Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Keigo Watanabe and Maki K. Habib, “Basic
Performance of a Desktop NC Machine Tool with Compliant Motion Capability,” Proc. of 2008 IEEE
International Conference on Mechatronics and Automation (ICMA 2008), August 5-8, 2008, Takamatsu,
Kagawa, Japan, WC1-5 (CD-R)
175. Sajal Chandra Banik, Keigo Watanabe, and Kiyotaka Izumi, “An Emotion-Based Task Sharing Approach for
a Cooperative Multiagent Robotic System,” Proc. of 2008 IEEE International Conference on Mechatronics
and Automation (ICMA 2008), August 5-8, 2008, Takamatsu, Kagawa, Japan, WC1-4 (CD-R)
176. Buddhika Jayasekara, Keigo Watanabe and Kiyotaka Izumi, “Learning from Fuzzy Voice Commands by
Intelligent Player in a Fuzzy Coach Player Systems for Controlling a Robot Manipulator,” Proc. of Joint
4th International Conference on Soft Computing and Intelligent Systems and 9th International Symposium
on advanced Intelligent Systems (SCIS & ISIS 2008), September 17-21, Nagoya University, Nagoya, Japan,
2008, pp. 1540–1545
177. Kiyotaka Izumi, Keigo Watanabe, and Akihito Tajima, “Locomotion Pattern Control for a Semi-Looper Type
Robot with Four Links Using Central Pattern Generators,” Proc. of Joint 4th International Conference on
Soft Computing and Intelligent Systems and 9th International Symposium on advanced Intelligent Systems
(SCIS & ISIS 2008), September 17-21, Nagoya University, Nagoya, Japan, 2008, pp. 1693–1698
– 39 –
178. Keigo Watanabe, Kiyotaka Izumi, Kensaku Okamura, and Rafiuddin Syam, “Discontinuous Underactuated
Control for Lateral X4 Autonomous Underwater Vehicles,” Proc. of the 2nd International Conference on
Underwater System Technology: Theory and Applications 2008 (USYS ’08), Bali, Indonesia, 4-5 Nov. 2008,
Paper ID 14 (no pages).
179. Keigo Watanabe and Kiyotaka Izumi “Skilful Control for Underactuated Robot Systems: From the Ground
to the Air and Underwater,” Proc. of the 2nd International Conference on Underwater System Technology:
Theory and Applications 2008 (USYS ’08), Bali, Indonesia, 4-5 Nov. 2008, Paper ID 39 (no pages).
180. Chandima Dedduwa Pathiranage, Keigo Watanabe, and Kiyotaka Izumi, “Simultaneous Localization and
Mapping: A Pseudolinear Kalman Filter (PLKF) Approach” Proc. of 2008 4th International Conference on
Information and Automation for Sustainability (ICIAfS 2008), Colombo, Sri Lanka, 12-14 Nov. 2008, pp.
61–66.
181. Buddhika Jayasekara, Keigo Watanabe, and Kiyotaka Izumi, “Interactive Dialogue for Behavior Teaching
to Robots based on Primitive Behaviors with Fuzzy Voice Commands” Proc. of 2008 4th International
Conference on Information and Automation for Sustainability (ICIAfS 2008), Colombo, Sri Lanka, 12-14
Nov. 2008, pp. 1–6.
182. Keisuke Ichida, Keigo Watanabe, and Kiyotaka Izumi, “Control of Three-Link Underactuated Manipulators
by a Logic-based Switching Method,” Proc. of 2009 IEEE International Conference on Networking, Sensing
and Control (IEEE ICNSC’09), Okayama, Japan, March 26-29, 2009, pp. 108–112
183. Keigo Watanabe, Kiyotaka Izumi, and Kensaku Okamura, “Kinematics-based Control of Underactuated Vehicles with Four-Inputs and Six-States by Applying Invariant Manifolds,” Proc. of 2009 IEEE International
Conference on Networking, Sensing and Control (IEEE ICNSC’09), Okayama, Japan, March 26-29, 2009,
pp. 846–851
184. Fusaomi Nagata, Shintaro Tani, Takanori Mizobuchi, Tetsuo Hase, Zenku Haga, Masaaki Omoto and Keigo
Watanabe, “Orthogonal-Type Robot with a CAD/CAM-Based Position/Force Controller,” Proc. of 2009
IEEE Symposium on Computational Intelligence in Control and Automation (CICA2009), March 30–April
2, 2009, Nashville, TN, USA
185. Keigo Watanabe, Chandima Dedduwa Pathiranage and Kiyoaka Izumi, “T-S Fuzzy Model Adopted SLAM
Algorithm with Linear Programming Based Data Association for Mobile Robots,” Proc. of IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul Olympic Parktel, Seoul, Korea July 5-8,
2009, pp. 244–249
186. Kiyoaka Izumi, Sajal Chandra Banik and Keigo Watanabe “Behavior Generation in Robots by Emotional
Motivation,” Proc. of IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul Olympic
Parktel, Seoul, Korea July 5-8, 2009, pp. 455–460
187. Fusaomi Nagata, Takanori Mizobuchi, Shintaro Tani, Tetsuo Hase, Zenku Haga, Keigo Watanabe and Maki
K. Habib “Impedance Model Force Control Using Neural Networks for a Desktop NC Machine Tool,” Proc.
of IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul Olympic Parktel, Seoul,
Korea July 5-8, 2009, pp. 1428–1433
188. A.G. Buddhika P. Jayasekara, Keigo Watanabe, Kiyotaka Izumi and Maki K. Habib Posture Control of a
Robot Manipulator by Evaluating Fuzzy Linguistic Information Based on User Feedback Proc. of IEEE
– 40 –
International Symposium on Industrial Electronics (ISIE 2009), Seoul Olympic Parktel, Seoul, Korea July
5-8, 2009, pp. 1440–1445
189. Maki K. Habib, Keigo Watanabe and Kiyotaka Izumi “Biped Locomotion using CPG with Sensory Interaction,” Proc. of IEEE International Symposium on Industrial Electronics (ISIE 2009), Seoul Olympic Parktel,
Seoul, Korea July 5-8, 2009, pp. 1452–1457
190. Fusaomi Nagata, Shitaro Tani, Takanori Mizobuchi, Tetsuo Hase, Zenku Haga, and Keigo Watanabe “Desktop NC Machine Tool with Abilities of Compliant Motion and Stick-Slip Motion,” July 19–23, 2009, San
Francisco, CA, USA
191. A. G. Buddhika P. Jayasekara, Keigo Watanabe and Kiyotaka Izumi, “Adaptation of robot behaviors toward
user perception on fuzzy linguistic information by fuzzy voice feedback,” Proc. of the 18th IEEE International Symposium on Robot and Human Interactive Communication (IEEE RO-MAN 2009), Toyama, Japan,
Sep. 27–Oct. 2.
192. Tatsuya Kato, Shoichi Maeyama, and Keigo Watanabe, “Movements in Formation of Multiple Mobile
Robots with IET Algorithm,” Proc. of the International Conference of Instrumentation, Control and Automation (ICA), October 20-22, 2009, Bandung, Indonesia
193. Keigo Watanabe, “Unmanned Vehicles Control System,” Proc. of the International Conference of Instrumentation, Control and Automation (ICA), October 20-22, 2009, Bandung, Indonesia (Plenary Talk)
3.2 (Extended) Abstract Review
1. K. Watanabe and S.G. Tzafestas, “A Hierarchical Multiple Model Adaptive Control for Stochastic Systems with Instrument Failures,” 2nd European Workshop on Fault Diagnostics, Reliability and Related
Knowledge-Based Approaches, April 6–8, UMIST, Manchester, 1987, see also Fault Detection & Reliability, Edited by M.G. Singh, K.S. Hindi, G. Schmidt and S. Tzafestas, Pergamon Press, 1987, pp. 263–270.
2. K. Watanabe and S.G. Tzafestas, “A New Generalized Pseudo-Bayes Estimation for Discrete-Time Systems
with Jump Failure Parameters,” 12th IMACS World Congress on Scientific Computation, July 18–22, Paris,
France, 1988, Vol. II, pp. 427–430.
3. Tzafestas, S.G. and Watanabe, K., “Stochastic Control Algorithms for Systems with Markovian Faulty Sensors,” 12th IMACS World Congress on Scientific Computation, July 18–22, Paris, France, 1988, Vol. II, pp.
681–684.
4. S.G. Tzafestas and K. Watanabe, “Modern Approaches to System/Sensor Fault Detection and Diagnosis,”
Int. Symp. on Intelligent Electronics and Instrumentation for Process Control and Quality Measurement,
May 9–15, Brussels, 1990.
5. I. Kimura, K. Watanabe, S.H. Jin, and S. Kaneko, “Control of Servomotor for Hospital Mobile Robots,” ’90
Korean Automatic Control Conference, Oct. 26–27, Seoul, Korea, 1990, pp. 1093–1097 .
6. K. Watanabe, S.H. Jin, and I. Kimura, “A VSS Observer-Based Sliding Mode Control for Uncertain Systems,” ’90 Korean Automatic Control Conference, Oct. 26–27, Seoul, Korea, 1990, pp. 1300–1305.
– 41 –
7. K. Watanabe, K. Shiramizu, T. Fukuda, and S.G. Tzafestas, “An Iterative Learning Control for Noisy Systems by Using Linear Neural Networks,” EURISCON ’91(The European Robotics and Intelligent Systems
Conference), June 23-28, Corf, Greece, 1991, pp. 205–212.
8. K. Watanabe, T. Fukuda, and S.G. Tzafestas, “Generalized Predictive Controls for Linear Stochastic Systems
by Using a State-Space Approach,” P.D.COM ’91(IMACS-IFAC Symposium on Parallel and Distributed
Computing in Engineering Systems), June 23–28, Corfu, Greece, 1991, pp. 511–516.
9. K. Watanabe, T. Fukuda, and S.G. Tzafestas, “An Adaptive Control for CARMA Systems using Linear
Neural Networks,” 13th IMACS World Congress on Computation and Applied Mathematics, July 22–26,
Dublin, Ireland, 1991, Vol. 3, pp. 1379–1382.
10. T. Shibata, T. Fukuda, K. Watanabe, and S.G. Tzafestas, “Neural Control for Robotic Motion Control,” 13th
IMACS World Congress on Computation and Applied Mathematics, July 22–26, Dublin, Ireland, 1991, Vol.
3, pp. 1383–1384.
11. H. Wada, T. Fukuda, K. Kosuge, F. Arai, H. Matsuura, and K. Watanabe, “Impact Sound Control of Robotic
Manipulators,” SICICA ’91 (Symposium on Intelligent Components and Instruments for Control Applications), May 20–22, Malaga, Spain, 1991, pp. 73–78.
12. K. Watanabe, S. Jin, and S.G. Tzafestas, “An Iterative Learning Fuzzy Control for Multi-Link Manipulators,”
IMACS/SICE Int. Symposium on Robotics, Mechatronics and Manufacturing Systems ’92 Kobe, Sept. 16–
20, Kobe, Japan, 1992, Vol. 2, pp. 1251–1256.
13. K. Watanabe and S.G. Tzafestas, “Fuzzy Logic Controller as A Compensator in the Problem of Tracking
Control of Manipulators,” IFToMM-jc International Symposium on Machines and Mechanisms, Sept. 24–26,
Nagoya, Japan, 1992, Vol. 1, pp. 98–103.
14. M. Teshnehlab and K. Watanabe, “Self-Tuning Computed Torque Controller Based on Flexible Star Neural Network,” Procs. of The first ECPD International Conference on Advanced Robotics and Intelligent
Automation, September, 1995.
15. K. Watanabe, Y. Shiraishi, J. Tang, T. Fukuda, and S.G. Tzafestas, “Construction of the Dynamic Model
for an Omnidirectional Mobile Robot,” CESA’96 IMACS Multiconference, Symposium on Robotics and
Cybernetics, Lille-France, July 9–12, 1996, pp. 643–647.
16. K. Izumi, T. Otsubo, and K. Watanabe, “A Nonlinear Robust Control Estimating an Unknown Upper Bound
by a Fuzzy Reasoning,” 1996 IEEE Int. Conf. on Systems, Man and Cybernetics, Beijing, China, Oct.
14–17, 1996, Vol. 1, pp. 298–303.
17. K. Watanabe and K. Noda, “Position Control of Prismatic Link Using a Stochastic Fuzzy Controller with
a Robust Servo Structure, ” 1996 IEEE Int. Conf. on Systems, Man and Cybernetics, Beijing, China, Oct.
14–17, 1996, Vol. 1, pp. 304–309.
18. J. Tang and A. Nomiyama, and K. Watanabe, “Stochastic Fuzzy Control for an Autonomous Mobile Robot,”
1996 IEEE Int. Conf. on Systems, Man and Cybernetics, Beijing, China, Oct. 14–17, 1996, Vol. 1, pp.
316–321.
19. K. Watanabe, “Intelligent Control for Robotic and Mechatronic Systems, ” 1996 IEEE Int. Conf. on Systems,
Man and Cybernetics, Beijing, China, Oct. 14–17, 1996, Vol. 1, pp. 322–327.
– 42 –
20. M.M.A. Hashem, K. Watanabe, and K. Izumi, “Evolution Strategy: A New Time Variant Mutation for Fine
Local Tuning,” Procs. of the 36th SICE Annual Conference, Int. Session Papers, Tokushima, July 29–31,
1997, pp. 1099–1104.
21. F. Nagata, K. Watanabe, K. Sato, K. Izumi, and T. Suehiro, “Impedance Control for Articulated Robot of
6 Degree-of-Freedom in Consideration of Critically Damped Condition with an Object Dynamics,” 1997
SICE, Tokushima, July 29–31, 1997, pp. 1119–1124.
22. K. Izumi, K. Watanabe, and S. Hamada, “Control of a Multi-Link Manipulator by an Adaptive Robust
Controller with VSC Structure,” 2nd Int. Workshop on Advanced Mechatronics (IWAM’97), Unzenn, Dec.
4–6, 1997, pp. 175–180.
23. K. Watanabe, K. Izumi, J. Tang, and F. Han, “Trajectory Control of an Omnidirectional Mobile Robot Using
a Fuzzy Servo System,” 2nd Int. Workshop on Advanced Mechatronics (IWAM’97), Unzenn, Dec. 4–6,
1997, pp. 74–79.
24. K. Izumi, T. Ohtsubo, and K. Watanabe, “Impedance Control of a Robot Manipulator Using a Fuzzy Modeled Environment,” 2nd Int. Workshop on Advanced Mechatronics (IWAM’97), Unzenn, Dec. 4–6, 1997,
pp. 191–195.
25. K. Izumi, H. Tamura, Y. Ikeda, and K. Watanabe, “Initial Configuration Dependence in a Self-Organizing
Robot,” Procs. of the Third Int. Symposium on Artificial Life and Robotics (AROB 3rd ’98), Beppu, Oita,
Japan, January 19–21, 1998, Vol. 2, pp. 510–513.
26. M.M.A. Hashem, K. Watanabe, K. Izumi, and T. Miyazaki, “An Incest Prevented Evolution Strategy and
Its Application on Optimal Gain Tuning for a Mobile Robot Control System,” Procs. of the Third Int.
Symposium on Artificial Life and Robotics (AROB 3rd ’98), Beppu, Oita, Japan, January 19–21, 1998, Vol.
2, pp. 514–517.
27. K. Watanabe and K. Izumi, “Construction of Fuzzy Behavior-Based Control Systems for a Mobile Robot,”
Procs. of the Third Int. Symposium on Artificial Life and Robotics (AROB 3rd ’98), Beppu, Oita, Japan,
January 19–21, 1998, Vol. 2, pp. 518–523.
28. K. Izumi and K. Watanabe, “Fuzzy Behavior-Based Tracking Control for an Omnidirectional Mobile Robot,”
Procs. of the Third Int. Symposium on Artificial Life and Robotics (AROB 3rd ’98), Beppu, Oita, Japan,
January 19–21, 1998, Vol. 2, pp. 524–527.
29. K. Izumi and K. Watanabe, “Fuzzy Behavior-Based Control with Local Learning,” Abstracts of the 3rd
European Robotics, Intelligent Systems and Control Conference (Euriscon ’98), Athens, Greece, June 22–
25, 1998, p. 84.
30. F. Nagata, K. Watanabe, K. Sato, and K. Izumi, “Impedance Control for Multi-DOF Manipulator by LearningBased Fuzzy Environment Models,” Abstracts of the 3rd European Robotics, Intelligent Systems and Control
Conference (Euriscon ’98), Athens, Greece, June 22–25, 1998, p. 85.
31. K. Izumi, K. Watanabe, T. Hirao, and M. Misumi, “Cooperative Control Using Multiple Manipulators with
Different Command Inputs,” Abstracts of the 3rd European Robotics, Intelligent Systems and Control Conference (Euriscon ’98), Athens, Greece, 22-25 June 1998, pp.87
– 43 –
32. K. Watanabe, K. Sato, K. Izumi, and Y. Kunitake, “Dynamic Control for a Holonomic Omnidirectional
Mobile Manipulator,” Abstracts of the 3rd European Robotics, Intelligent Systems and Control Conference
(Euriscon ’98), Athens, Greece, June 22–25, 1998, p. 89.
33. F. Nagata, K. Watanabe, K. Sato, and K. Izumi, “Position-Based Impedance Control Using Fuzzy Environment Models,” Procs. of the 37th SICE Annual Conference, Int. Session Papers, Chiba, July 29–31, 1998,
pp. 837–842.
34. M.M.A. Hashem, K. Watanabe and K. Izumi, “An Evolutionary Technique for Constrained Optimization
Problems,” Procs. of the Fourth Int. Symposium on Artificial Life and Robotics (AROB 4th ’99), Beppu,
Oita, Japan, January 19–22, 1999, vol. 2, pp. 618–621.
35. J. Tang, K. Watanabe and K. Sanefuji, “Design and Experiment of an Omnidirectional Mobile Robot Using
Fuzzy Servo Control,” Procs. of the Fourth Int. Symposium on Artificial Life and Robotics (AROB 4th ’99),
Beppu, Oita, Japan, January 19–22, 1999, vol. 2, pp. 622–625.
36. F. Nagata, K. Watanabe, K. Sato, K. Izumi and S. Akama, “An Experiment on Force Control Using Fuzzy
Environmental Models,” Procs. of the Fourth Int. Symposium on Artificial Life and Robotics (AROB 4th
’99), Beppu, Oita, Japan, January 19–22, 1999, vol. 2, pp. 626–629.
37. M.M.A. Hashem, K. Watanabe and K. Izumi, “An Evolutionary Optimal Obstacle Avoidance Method for
Mobile Robots,” Procs. of the Fourth Int. Symposium on Artificial Life and Robotics (AROB 4th ’99), Beppu,
Oita, Japan, January 19–22, 1999, vol. 2, pp. 516–519.
38. T. Nanayakkara, K. Watanabe and K. Izumi, “Evolution in Dynamic Environments Through Adaptive
Chaotic Mutation,” Procs. of the Fourth Int. Symposium on Artificial Life and Robotics (AROB 4th ’99),
Beppu, Oita, Japan, January 19–22, 1999, vol. 2, pp. 520–523.
39. K. Watanabe and K. Izumi, “A Survey of Robotic Control Systems Constructed Using Evolutionary Computations,” 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo, Japan, Oct. 12–15, 1999, Vol.
II, pp. 758–763.
40. D.P.T. Nanayakkara, K. Watanabe, and K. Izumi, “Evolving Runge-Kutta-Gill RBF Networks to Estimate
the Dynamics of a Multi-Link Manipulator,” 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics,
Tokyo, Japan, Oct. 12–15, 1999, Vol. II, pp. 770–775.
41. V.P.C. Dassanayake, K. Watanabe, and K. Izumi, “Fuzzy Behavior-Based Control for a Task of Three-Link
Manipulator,” 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo, Japan, Oct. 12–15, 1999,
Vol. II, pp. 776–781.
42. M.M.A. Hashem, K. Watanabe, and K. Izumi, “Evolutionary Trajectory Learning for Autonomous Robots
by Means of Geometric Approximations of Polygonal Obstacles,” 1999 IEEE Int. Conf. on Systems, Man,
and Cybernetics, Tokyo, Japan, Oct. 12–15, 1999, Vol. II, pp. 734–739.
43. K. Izumi, H. Tamura, and K. Watanabe, “Task-Oriented Optimal Configuration Structure in a Threedimensional Self-Organizing Robot by Genetic Algorithms,” 1999 IEEE Int. Conf. on Systems, Man, and
Cybernetics, Tokyo, Japan, Oct. 12–15, 1999, Vol. II, pp. 740–745.
– 44 –
44. F. Nagata, K. Watanabe, K. Sato and K. Izumi, “An Experiment on Profiling Task with Impedance Controlled
Manipulator Using Cutter Location Data,” 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo,
Japan, Oct. 12–15, 1999, Vol. IV, pp. 848–853.
45. X. Chen, K. Watanabe, and K. Izumi, “Study on Control Algorithm of Translational Crawl for a Quadruped
Robot,” 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo, Japan, Oct. 12–15, 1999, Vol. IV,
pp. 959–964.
46. X. Chen, K. Watanabe, and K. Izumi, “A New Method on Judgment of Static Stability for the Quadruped
Robot,” 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics, Tokyo, Japan, Oct. 12–15, 1999, Vol. IV,
pp. 953–958.
47. T. Nanayakkara, K. Watanabe, K. Kiguchi, and K. Izumi, “Dynamic Identification of an Industrial SevenLink Manipulator by Evolving Runge-Kutta-Gill RBF Networks,” Procs. of the Fifth Int. Symposium on
Artificial Life and Robotics (AROB 5th ’00), Oita, Japan, January 26–28, 2000, vol. 2, pp. 669–672.
48. L. Udawatta, K. Watanabe, K. Kiguchi, and K. Izumi, “Control of Robot Manipulators via Chaotic Attractors
and Fuzzy Model-Based Regulators,” Procs. of the Fifth Int. Symposium on Artificial Life and Robotics
(AROB 5th ’00), Oita, Japan, January 26–28, 2000, vol. 2, pp. 673–676.
49. F. Han, K. Watanabe, K. Kiguchi, and K. Izumi, “A Dynamic Control of Holonomic and Omnidirectional
Mobile Robot Platforms with Two Active Dual-Wheel Caster Assemblies,” Procs. of the Fifth Int. Symposium on Artificial Life and Robotics (AROB 5th ’00), Oita, Japan, January 26–28, 2000, vol. 2, pp. 677–680.
50. X. Chen, K. Watanabe, K. Kiguchi, and K. Izumi, “Environment Cognition for a Quadruped Robot Using
An ART-Based Neural Network,” Procs. of the Fifth Int. Symposium on Artificial Life and Robotics (AROB
5th ’00), Oita, Japan, January 26–28, 2000, vol. 2, pp. 681–684.
51. P. Dassanayake, K. Watanabe, K. Kiguchi, and K. Izumi, “Application of Fuzzy Behavior-Based Control for
a PUMA Robot,” Procs. of the Fifth Int. Symposium on Artificial Life and Robotics (AROB 5th ’00), Oita,
Japan, January 26–28, 2000, vol. 2, pp. 773–776.
52. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “Intelligent Adaptive Position/Force Control of Robot
Manipulators Using Softcomputing,” Procs. of ISOMA, World Automation Conference 2000, June 11-16,
2000, Wailea, Maui, Hawaii, ISOMA-051 (CD-ROM) (Engelberger Best Paper Award)
53. K. Kiguchi, S. Kariya, K. Watanabe, K. Izumi, and T. Fukuda, “Fuzzy Control of an Exoskeletal Robot
for Human Elbow Motion Support,” Proc. of the 4th World Multiconference on Systemics, Cybernetics and
Informatics (SCI 2000), July 23–26, 2000, Orlando, Florida, pp. 445–450.
54. K. Kiguchi, H. Miyaji, K. Watanabe, K. Izumi, and T. Fukuda, “Generation of Neuro Force Controllers
for General Environments Using Genetic Programming with Fuzzy Evaluation,” Proc. of the 4th World
Multiconference on Systemics, Cybernetics and Informatics (SCI 2000), July 23–26, 2000, Orlando, Florida,
pp. 451–456, 2000.
55. F. Nagata and K. Watanabe, “Teaching System for a Polishing Robot Using a Game Joystick,” Procs. of
the 39th SICE Annual Conference (SICE2000), Int. Session Papers, July 26–28, Iizuka, Japan, 114 D-4
(CD-ROM).
– 45 –
56. T. Nanayakkara, K. Watanabe, K. Kiguchi, and K. Izumi, “Evolutionary Structured RBF Neural Network
Based Control of a Seven-Link Redundant Manipulator,” Procs. of the 39th SICE Annual Conference
(SICE2000), Int. Session Papers, July 26–28, 2000, Iizuka, Japan, 114 A-4 (CD-ROM).
57. K. Teramoto and K. Watanabe, “Principal Curvature Estimation by an Acoustical Haptic Sensor,” Procs. of
the 39th SICE Annual Conference (SICE2000), Int. Session Papers, July 26–28, 2000, Iizuka, Japan, 103
A-6 (CD-ROM).
58. Thrishanta Nanayakkara, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Achieving Synergy Through
Acquisition of Human Skill,” Procs. of the Sixth Int. Symposium on Artificial Life and Robotics (AROB 6th
’01), Tokyo, Japan, January 15–17, 2001, Vol. 1, pp. 126–129.
59. Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “On the Fuzzy Model-Based Control for an Acrobot,”
Procs. of the Sixth Int. Symposium on Artificial Life and Robotics (AROB 6th ’01), Tokyo, Japan, January
15–17, 2001, Vol. 1, pp. 130–133.
60. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Control for a Rings Gymnastic
Robot Using Fuzzy Reasoning and Genetic Algorithms,” Procs. of the Sixth Int. Symposium on Artificial
Life and Robotics (AROB 6th ’01), Tokyo, Japan, January 15–17, 2001, Vol. 1, pp. 134–137.
61. Kiyotaka Izumi, Keigo Watanabe, and Kazuo Kiguchi, “Fuzzy Behavior-Based Control of Mobile Robot in
Dynamic Environments Using Modules Learned in Static Environments,” Procs. of the Sixth Int. Symposium
on Artificial Life and Robotics (AROB 6th ’01), Tokyo, Japan, January 15–17, 2001, Vol. 1, pp. 138–141.
62. Kazuo Kiguchi, Yukihiro Kusumoto, Keigo Watanabe, Kiyotaka Izumi, and Toshio Fukuda, “Energy Optimal Gait Analysis of Quadruped Robots,” Procs. of the Sixth Int. Symposium on Artificial Life and Robotics
(AROB 6th ’01), Tokyo, Japan, January 15–17, 2001, Vol. 1, pp. 142–145.
63. Kazuo Kiguchi, Shingo Kariya, Keigo Watanabe, Kiyotaka Izumi, and Toshio Fukuda, “Application of
Multiple Fuzzy-Neuro Controllers of an Exoskeletal Robot for Human Elbow Motion Support,” Proc. of the
32nd International Symposium on Robotics (ISR2001), Seoul, Korea, Aril 19–21, 2001.
64. K. Pulasinghe, K. Watanabe, K. Kiguchi, and K. Izumi, “A Novel Modular Fuzzy Neural Controller Driven
by Natural Language Commands,” Proc. of the 40th SICE Annual Conference (SICE2001), Int. Session
Papers, July 25–27, 2001, Nagoya, Japan, 312C-4 (CD-R).
65. S. Kumarawadu, K. Watanabe, K. Kiguchi, and K. Izumi, “Resolved Velocity Controller with an Online
RBF-NN Compensator for Controlling a Dynamic Binocular Active Vision Head,” Proc. of the 40th SICE
Annual Conference (SICE2001), Int. Session Papers, July 25–27, 2001, Nagoya, Japan, 114A-2 (CD-R).
66. K. Teramoto and K. Watanabe, “Acoustical Tactile Sensor Utilizing Multiple Reflections for Principal Curvature Measurement,” Proc. of the 40th SICE Annual Conference (SICE2001), Int. Session Papers, July
25–27, 2001, Nagoya, Japan, 313A-1 (CD-R).
67. K. Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda, “Generation of Evaluation Function for Robot Force
Control Using Genetic Programming,” Proc. of Joint IFSA 9th World Congress and 20th NAPFIPS Int.
Conf., July 25–28, Vancouver, BC, Canada, pp. 2767–2771, 2001.
– 46 –
68. R. Syam, K. Watanabe, S.-H. Jin, K. Izumi, and K. Kiguchi, “Adaptive Actor-Critic Learning of Mobile
Robots Using Actual and Simulated Experiences,” Proc. of the Int. Conf. on Control, Automation and
Systems (ICCAS2001), October 17–21, 2001, Cheju, Korea, pp. 312–316.
69. S. Kumarawadu, K. Watanabe, K. Kiguchi, and K. Izumi, “An Application of Active Vision Head Control Using Model-based Compensating Neural Networks Controller,” Proc. of the Int. Conf. on Control,
Automation and Systems (ICCAS2001), October 17–21, 2001, Cheju, Korea, pp. 1283–1286.
70. K. N. Pulasinghe, K. Watanabe, K. Kiguchi, and K. Izumi, “Modular Fuzzy Neural Controller Driven by
Voice Commands,” Proc. of the Int. Conf. on Control, Automation and Systems (ICCAS2001), October
17–21, 2001, Cheju, Korea, pp. 194–197.
71. L. Udawatta, K. Watanabe, K. Kiguchi, and K. Izumi, “Obstacle Avoidance of Underactuated Robot Manipulators Using Switching Torque Computed Method,” Proc. of the Int. Conf. on Control, Automation and
Systems (ICCAS2001), October 17–21, 2001, Cheju, Korea, pp. 321–324.
72. Sisil P. Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Growing Neural Networks
for Compensating Dynamic Uncertainties in Visual Tracking Problem,” Proc. of the 7th Int. Symposium on
Artificial Life and Robotics (AROB 7th ’02), Beppu, Oita, Japan, Jan. 16–18, 2002, pp. 409–412.
73. Koliya N. Pulasinghe, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Voice Controlled Modular
Fuzzy Neural Controller with Enhanced User Autonomy,” Proc. of the 7th Int. Symposium on Artificial Life
and Robotics (AROB 7th ’02), Beppu, Oita, Japan, Jan. 16–18, 2002, pp. 413–416.
74. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Coordinated Transportation of a Single
Object by Two Nonholonomic Mobile Robots,” Proc. of the 7th Int. Symposium on Artificial Life and
Robotics (AROB 7th ’02), Beppu, Oita, Japan, Jan. 16–18, 2002, pp. 417–420.
75. Rafiuddin Syam, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Adaptive Actor-Critic Learning of
Mobile Robots Using Simulated Experiences Through Predictive Model,” Proc. of the 7th Int. Symposium
on Artificial Life and Robotics (AROB 7th ’02), Beppu, Oita, Japan, Jan. 16–18, 2002, pp. 421–424.
76. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Developments in Underactuated
Manipulator Control Techniques and Latest Control Using AI,” Proc. of the 7th Int. Symposium on Artificial
Life and Robotics (AROB 7th ’02), Beppu, Oita, Japan, Jan. 16–18, 2002, pp. 425–428.
77. Kazuo Kiguchi, Thrishantha Nanayakkara, Keigo Watanabe, and Toshio Fukuda, “Multi-Dimensional Reinforcement Learning Using a Vector Q-Net — Application to Mobile Robots,” Proc. of 2002 FIFA Robot
World Congress, Seoul, Korea, May 26–29, 2002, pp. 405–410.
78. Kenbu Teramoto and Keigo Watanabe, “Acoustical Tactile Sensor Utilizing Multiple Reflections for Direct
Curvature Measurement,” Proc. of the 41st SICE Annual Conference (SICE2002), August 5–7, 2002, Osaka,
Japan, pp. 309–312 (CD-R)
79. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Reinforcement Learning with
Expectation and Action Augmented States in Partially Observable Environment,” Proc. of the 41st SICE
Annual Conference (SICE2002), August 5–7, 2002, Osaka, Japan, pp. 926–931 (CD-R)
– 47 –
80. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Fuzzy Rules Extraction by GA for
Controlling 2-DOF Planar Manipulators: Switching Computed Torque Approach,” Proc. of the 41st SICE
Annual Conference (SICE2002), August 5–7, 2002, Osaka, Japan, pp. 1700–1705 (CD-R)
81. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Perception Control Using Nonlinear Expectation Learning Through RBF Neural Networks,” Proc. of ICASE/SICE Joint Workshop on
Intelligent Control and Systems, Oct. 16, 2002, Muju Resort, Korea, pp. 97–102
82. Keigo Watanabe, Rafiuddin Syam, Kiyotaka Izumi, and Kazuo Kiguchi, “An Adaptive Actor-Critic Algorithm with Multi-Step Simulated Experiences,” Proc. of ICASE/SICE Joint Workshop on Intelligent Control
and Systems, Oct. 16, 2002, Muju Resort, Korea, pp. 91–96
83. Xin Yang, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, “A Decentralized Control of Cooperative
Transportation by Multiple Mobile Robots Using Neural Network Compensator,” Proc. of the Int. Conf. on
Control, Automation and Systems (ICCAS2002), October 16-19, 2002, Muju Resort, Korea, pp. 563–568
84. Koliya Pulasinghe, Keigo Watanabe, Kazuo Kiguchi and Kiyotaka Izumi, “Learning to Acquire New Knowledge for Fuzzy Neural Networks by Interacting with the Human User,” Proc. of the Int. Conf. on Control,
Automation and Systems (ICCAS2002), October 16-19, 2002, Muju Resort, Korea, pp. 296–301
85. Sisil P. Kumarawadu, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Neural-Net Switching Controller for Partly Known Robot Systems with Guaranteed Tracking Performance,” Proc. of the 8th Int.
Symposium on Artificial Life and Robotics (AROB 8th ’03), Beppu, Oita, Japan, Jan. 24–26, 2003, pp.
613–616
86. Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi, “Evolutionary Acquisition of Handstand Skill Using a Three-Link Rings Gymnastic Robot,” Proc. of the 8th Int. Symposium on Artificial Life
and Robotics (AROB 8th ’03), Beppu, Oita, Japan, Jan. 24–26, 2003, pp. 617–620 (AROB Best Paper
Award)
87. Xin Yang, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Dynamic Potential Field Method for
Local Navigation of Mobile Robots,” Proc. of the 8th Int. Symposium on Artificial Life and Robotics (AROB
8th ’03), Beppu, Oita, Japan, Jan. 24–26, 2003, pp. 621–624
88. Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Neural Network Based Expectation Learning in Perception Control: Learning and Control with Unreliable Sensory System,” Proc. of the
8th Int. Symposium on Artificial Life and Robotics (AROB 8th ’03), Beppu, Oita, Japan, Jan. 24–26, 2003,
pp. 625–628
89. Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Control of 3-DOF Underactuated
Manipulator Using Fuzzy Based Switching,” Proc. of the 8th Int. Symposium on Artificial Life and Robotics
(AROB 8th ’03), Beppu, Oita, Japan, Jan. 24–26, 2003, pp. 629–632
90. Kazuo Kiguchi, Koya Iwami, Keigo Watanabe, Toshio Fukuda, “An Assist Level Adjustment Method
of an Active Shoulder Orthosis,” Proc. of the 8th International Conference on Rehabilitation Robotics
(ICORR2003), KAIST, Daejeon, Korea, 2003, pp. 147–150
91. Koliya Pulasinghe, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi, “Control of Redundant Manipulators
by Fuzzy Linguistic Commands,” Proc. of the 42nd SICE Annual Conference (SICE2003), August 4–6,
2003, Fukui, Japan, pp. 2819–2824 (CD-R)
– 48 –
92. Kiyotaka Izumi, Keigo Watanabe, Yuki Koga, Kazuo Kiguchi, “Control of Nonholonomic Mobile Robots
Using a Feedback Error Learning,” Proc. of the 42nd SICE Annual Conference (SICE2003), August 4–6,
2003, Fukui, Japan, pp. 2979–2984 (CD-R)
93. Fusaomi Nagata, Yukihiro Kusumoto, Keigo Watanabe, Kunihiro Tsuda, Kiminori Yasuda, and Yasuhide
Murase, “Development of an Intelligent Sanding Machine for Designed Furniture – 3D Robot Sander with
a Contact Force Controller–,” Proc. of 16th International Wood Machining Seminar, August 24-27, 2003,
Matsue, Japan, pp. 546-552
94. Yukihiro Kusumoto, Fusaomi Nagata, Keigo Watanabe, Kunihiro Tsuda, Kiminori Yasuda, and Yasuhide
Murase, “Development of an Intelligent Sanding Machine for Designed Furniture – High Quality Sanding
of 3D Curved Surface Using Hyper Cutter Location Data–,” Proc. of 16th International Wood Machining
Seminar, August 24-27, 2003, Matsue, Japan, pp. 553-561
95. Keigo Watanabe, Amitava Chatterjee, Koliya Pulasinghe, Kiyotaka Izumi, and Kazuo Kiguchi, “A FuzzyNeural Network Based Human-Machine Interface for Voice Controlled Robots Trained by a Particle Swarm
Optimization,” Proc. of the 4th International Symposium on Advanced Intelligent Systems (ISIS 2003),
September 25-28, 2003, Jeju Island, Korea, pp. 411–414
96. Kiyotaka Izumi, Rafiuddin Syam, Keigo Watanabe, and Kazuo Kiguchi, “Neural Network Based Disturbance Canceler with Feedback Error Learning for Nonholonomic Mobile Robot” Proc. of the 4th International Symposium on Advanced Intelligent Systems (ISIS 2003), September 25-28, 2003, Jeju Island, Korea,
pp. 443–446
97. Keigo Watanabe, Amitava Chatterjee, Koliya Pulasinghe, Sang-Ho Jin, Kiyotaka Izumi, and Kazuo Kiguchi,
“Training of Fuzzy-Neural Network for Voice-Controlled Robot Systems by a Particle Swarm Optimization,” Proc. of the Int. Conf. on Control, Automation and Systems (ICCAS 2003), October 22-25, 2003,
Gyeongju, Korea, pp. 1115–1120
98. Tomohiro Yamaguchi, Keigo Watanabe, Kiyotaka Izumi, and Kazuo Kiguchi, “Obstacle Avoidance of
Quadruped Robots with Consideration to the Order of Swing Leg,” Proc. of the Int. Conf. on Control,
Automation and Systems (ICCAS 2003), October 22-25, 2003, Gyeongju, Korea, pp. 645–650
99. Kiyotaka Izumi, Keigo Watanabe, Yuya Tamano, and Kazuo Kiguchi, “Japanese Speech Based Fuzzy ManMachine Interface of Manipulators,” Proc. of the Int. Conf. on Control, Automation and Systems (ICCAS
2003), October 22-25, 2003, Gyeongju, Korea, pp. 603–608
100. Sherwin Guirnaldo, Keigo Watanabe, and Kiyotaka Izumi, “Enhancing Awareness in Cooperative Robots
Through Perceptual Anchoring,” Proc. of the 9th Int. Symposium on Artificial Life and Robotics (AROB 9th
’04), Beppu, Oita, Japan, Jan. 28–30, 2004, vol. 2, pp. 523–526
101. Rafiuddin Syam, Keigo Watanabe, and Kiyotaka Izumi, “A Study on Constructing a Neuro-interface Using
the Concept of Virtual Master-Slave System,” Proc. of the 9th Int. Symposium on Artificial Life and Robotics
(AROB 9th ’04), Beppu, Oita, Japan, Jan. 28–30, 2004, vol. 2, pp. 527–530
102. Tomohiro Yamaguchi, Keigo Watanabe, and Kiyotaka Izumi, “Neural Network Approach to Acquire the
Free-Gait Motion of Quadruped Robots in Obstacle Avoidance,” Proc. of the 9th Int. Symposium on Artificial Life and Robotics (AROB 9th ’04), Beppu, Oita, Japan, Jan. 28–30, 2004, vol. 2, pp. 531–534
– 49 –
103. Kiyotaka Izumi, Yuya Tamano, Yohiharu Nose, and Keigo Watanabe, “Coordination of Voice and Visual
Information for Intelligently Cooperating Between Human and Robot,” Proc. of the 9th Int. Symposium on
Artificial Life and Robotics (AROB 9th ’04), Beppu, Oita, Japan, Jan. 28–30, 2004, vol. 2, pp. 535–538
104. Samy Assal, Keigo Watanabe, and Kiyotaka Izumi, “Fuzzy Hint Acquisition for the Inverse Kinematic
Solution of Redundant Manipulators Using Neural Network –Tracking Unknown Enclosed Trajectory–,”
Proc. of the 9th Int. Symposium on Artificial Life and Robotics (AROB 9th ’04), Beppu, Oita, Japan, Jan.
28–30, 2004, vol. 2, pp. 539–542
105. Keigo Watanabe and Kiyotaka Izumi, “Biomimetic Machines: Motivations to the Research,” Proc. of the
43rd SICE Annual Conference (SICE2004), Sapporo, Japan, August 4–6, 2004, pp. 1098–1103 (CD-R)
106. Kiyotaka Izumi, Yuya Tamano, Yoshiharu Nose, and Keigo Watanabe, “Tracking of Colored Image Objects
with a Robot Manipulator Controlled by Japanese Speech Commands,” Proc. of the 43rd SICE Annual
Conference (SICE2004), Sapporo, Japan, August 4–6, 2004, pp. 1319–1322 (CD-R)
107. Rafiuddin Syam, Keigo Watanabe and Kiyotka Izumi, “Concept of Virtual Master-Slave Systems and Its
Application to the Design of a Neuro-Interface,” Proc. of the 43rd SICE Annual Conference (SICE2004),
Sapporo, Japan, August 4–6, 2004, pp. 1108–1113 (CD-R)
108. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Probabilistic Neural Network Based Learning from Fuzzy Voice Commands for Controlling a Robot,” Proc. of the Int. Conf. on Control, Automation
and Systems (ICCAS 2004), Bangkok, Thailand, August 25-27, 2004, pp. 2011–2016 (Outstanding Paper
Award)
109. Chandima Pathirana, Keigo Watanabe, and Kiyotaka Izumi, “A View-Based Navigation System for Autonomous Robots,” Proc. of the 10th Int. Symposium on Artificial Life and Robotics (AROB 10th ’05),
Beppu, Oita, Japan, February 4–6, 2005, pp. 127–130
110. Chandima Pathirana, Keigo Watanabe, Kiyotaka Izumi, Aruna Hewawasam, and Lanka Udawatta, “Intelligent Vision System for Dynamic Environments,” Proc. of the 10th Int. Symposium on Artificial Life and
Robotics (AROB 10th ’05), Beppu, Oita, Japan, February 4–6, 2005, pp. 131–134
111. Janaka Chaminda Balasuriya, Keigo Watanabe, and Kiyotaka Izumi, “Human Interaction with Binocular
Vision Robots in Ubiquitous Environment,” Proc. of the 10th Int. Symposium on Artificial Life and Robotics
(AROB 10th ’05), Beppu, Oita, Japan, February 4–6, 2005, pp. 135–138
112. Kiyotaka Izumi, Keigo Watanabe, Yuya Tamano, and Ayumu Oshima, “Fuzzy Coach Player Method with
Shared Environmental Data,” Proc. of the 10th Int. Symposium on Artificial Life and Robotics (AROB 10th
’05), Beppu, Oita, Japan, February 4–6, 2005, pp. 139–142
113. Kiyotaka Izumi, Keisuke Ichida, and Keigo Watanabe, “Cost Function Analysis for Optimizing Fuzzy Energy Regions in Control of Underactuated Manipulators,” Proc. of the 10th Int. Symposium on Artificial Life
and Robotics (AROB 10th ’05), Beppu, Oita, Japan, February 4–6, 2005, pp. 143–146
114. Hyun-Dong Lee, Keigo Watanabe, Sang-Ho Jin, Rafiuddin Syam, Kiyotaka Izum, “Neurointerface Using
an Online Feedback-Error Learning Based Neural Network for Nonholonomic Mobile Robots,” Proc. of the
Int. Conf. on Control, Automation and Systems (ICCAS 2005), June 2-5, 2005, Kintex, Korea, pp. 330–333
– 50 –
115. Keigo Watanabe, Guang Lei Liu, and Kiyotaka Izumi, “Pattern Analyses for Semi-Looper Type Robots with
Multiple Links,” Proc. of the Int. Conf. on Control, Automation and Systems (ICCAS 2005), June 2-5, 2005,
Kintex, Korea, pp. 963–968
116. Fusaomi Nagata, Yukihiro Kusumoto, Kenji Hasebe, Kaori Saito, Masuo Fukumoto, and Keigo Watanabe,
“Post-Processor Using a Fuzzy Feed Rate Generator for Multi-Axis NC Machine Tools with a Rotary Unit,”
Proc. of the Int. Conf. on Control, Automation and Systems (ICCAS 2005), June 2-5, 2005, Kintex, Korea,
pp. 438–443
117. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, Nobuhiro Uchida, “Switching Rules Based on Fuzzy
Energy Regions for a Switching Control of Underactuated Robot Systems,” Proc. of the Int. Conf. on
Control, Automation and Systems (ICCAS 2005), June 2-5, 2005, Kintex, Korea, pp. 1949–1964
118. Keigo Watanabe, Guang Lei Liu, and Kiyotaka Izumi, “Motion Pattern Analysis of Semi-Looper Type
Robots with Four Links,” Proc. of the 44th SICE Annual Conference (SICE2005), August 8–10, 2005,
Okayama, Japan, pp. 2889–2894 (CD-R)
119. Kiyotaka Izumi, Keigo Watanabe, Yuya Tamano, and Wataru Ohshima, “Voice Command Control for a
Robot in the Framework of Fuzzy Coach-Player System,” Proc. of the 44th SICE Annual Conference
(SICE2005), August 8–10, 2005, Okayama, Japan, pp. 2406–2409 (CD-R)
120. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, Kiyotaka Izumi, and
Minetada Osano, “Adaptive Neural Fuzzy Inference System (ANFIS) for Tracking and Path Planning in
Real Time Dynamic Environment for Ubiquitous Robots Using Single Binocular Vision System,” Proc. of
8th International Conference on Humans and Computers (HC2005), August 31– September 2, Aizu, Japan,
ID35
121. Chandima Pathirana, Keigo Watanabe, and Kiyotaka Izumi, “Image Processing Based Robot Navigation
System in a Changing Environment,” Proc. of the 6th International Symposium on Advanced Intelligent
Systems (ISIS 2005), Sept. 28–Oct. 1, 2005, Yeosu, Jeonnam, Korea, pp. 35–40
122. Janaka Chaminda Balasuriya, Keigo Watanabe, and Kiyotaka Izumi, “Fuzzy Decision Making for Guiding
Autonomous Mobile Robots in Ubiquitous Environment Using Binocular Vision System,” Proc. of the 6th
International Symposium on Advanced Intelligent Systems (ISIS 2005), Sept. 28–Oct. 1, 2005, Yeosu,
Jeonnam, Korea, pp. 41–45
123. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Fuzzy Coach-Player System in a Teleoperated Environment,” Proc. of the 6th International Symposium on Advanced Intelligent Systems (ISIS
2005), Sept. 28–Oct. 1, 2005, Yeosu, Jeonnam, Korea, pp. 46–51
124. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, and Nobuhiro Uchida, “Design of Boundary Curves for
Fuzzy Energy Regions Based Switching Control,” Proc. of the 6th International Symposium on Advanced
Intelligent Systems (ISIS 2005), Sept. 28–Oct. 1, 2005, Yeosu, Jeonnam, Korea, pp. 52–55
125. Guang Lei Liu, Keigo Watanabe, and Kiyotaka Izumi, “Models of Central Pattern Generators for the Locomotion of a Semi-Looper Robot,” Proc. of the 6th International Symposium on Advanced Intelligent Systems
(ISIS 2005), Sept. 28–Oct. 1, 2005, Yeosu, Jeonnam, Korea, pp. 56–61
– 51 –
126. Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi, “Teaching a Tele-Robot using Natural Language Commands,” Proc. of IEEE International Symposium on Micromechatronics and Human Science
(MHS), November 7–9, Nagoya, pp. 59–64
127. Janaka Chaminda Balasuriya, Keigo Watanabe, and Kiyotaka Izumi, “Ubiquitous Robot Navigation in Real
Time Dynamic Environments using Binocular Vision System and Fuzzy Logic Decision Making,” Proc. of
International Conference on Information and Automation (ICIA2005), December 15–18, 2005, Colombo,
Sri Lanka, pp. 147–152
128. T. Yamada, K. Watanabe and K. Kiguchi, “Performance Skill Acquisition of Handstand from Backward
Giant Circle Using a Rings Gymnastic Robot,” Proc. of International Conference on Information and Automation (ICIA2005), December 15–18, 2005, Colombo, Sri Lanka, pp. 180–185
129. Chandima Dedduwa Pathiranage, Keigo Watanane, Kiyotaka Izumi, “Mobile Robot Navigation by Visual
Perception with Vision Decision Agent in an Unstructured Environment,” Proc. of the 11th Int. Symposium
on Artificial Life and Robotics (AROB 11th ’06), Beppu, Oita, Japan, January 23–25, 2006, CD-R, pp.
671–674
130. Janaka Chaminda Balasuriya, Keigo Watanabe and Kiyotaka Izumi, “Guiding Mobile Robots in Ubiquitous
Environment using Binocular Vision System and Intelligent Decision Making,” Proc. of the 11th Int. Symposium on Artificial Life and Robotics (AROB 11th ’06), Beppu, Oita, Japan, January 23–25, 2006, CD-R
(OS3-2), pp. 675–678
131. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and Kiyotaka Izumi,
“Kansei and Human Experience Analysis for Mobile Robot Navigation in Ubiquitous Environment,” Proc.
of the 11th Int. Symposium on Artificial Life and Robotics (AROB 11th ’06), Beppu, Oita, Japan, January
23–25, 2006, CD-R (OS3-3), pp. 679–682
132. Chandimal Jayawardena, Keigo Watanabe and Kiyotaka Izumi, “A Natural Language based Human Friendly
Network Robotic System,” Proc. of the 11th Int. Symposium on Artificial Life and Robotics (AROB 11th
’06), Beppu, Oita, Japan, January 23–25, 2006, CD-R (OS3-4), pp. 683–686
133. Kiyotaka Izumi, Akihito Tajima, Guang Lei Liu, and Keigo Watanabe, “Some Properties of Coupled Van
del Pol Oscillators with Inhibitory or Excitory Connections,” Proc. of the 11th Int. Symposium on Artificial
Life and Robotics (AROB 11th ’06), Beppu, Oita, Japan, January 23–25, 2006, CD-R (OS3-5), pp. 687–690
134. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, Nobuhiro Uchida, “Optimal Design Method for Region
Setting in Fuzzy Energy Switching Control of Underactuated Manipulators,” Proc. of the 11th Int. Symposium on Artificial Life and Robotics (AROB 11th ’06), Beppu, Oita, Japan, January 23–25, 2006, CD-R
(OS3-6), pp. 691–694
135. Fusaomi Nagata, Tetsuo Hase, Masaaki Omoto, Zenku Haga, and Keigo Watanabe, “Improvement of Finishing Quality on Blow Mold’s Constriction Parts by Using an Intelligent Finishing Robot,” Proc. of the
11th Int. Symposium on Artificial Life and Robotics (AROB 11th ’06), Beppu, Oita, Japan, January 23–25,
2006, CD-R (OS7-5), pp. 516-519
136. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and Minetada Osano,
“Kansei Analysis for Autonomous Robots in Human Interaction and Navigation in Ubiquitous Environ-
– 52 –
ments” Proc. of the 1st International Conference on Kansei Engineering and Intelligent Systems (KEIS
’06), September 5–7, Aizu, Japan, pp. 188–193
137. Janaka Chaminda Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and Minetada Osano,
“Kansei Analysis for Ubiquitous Robots Interacting with People in Dynamic Environments,” Proc. of 9th
International Conference on Humans and Computers (HC2006), September 6–9, Aizu, Japan, pp. 44–49
138. Keigo Watanabe, Kiyotaka Izumi, Ayumu Ohshima, Shin-ichi Ishii, “An Action Decision Mechanism Using Fuzzy-Neural Network in Voice Commanded Fuzzy Coach-Player System for Robots,” SICE-ICASE
International Joint Conference 2006 (SICE-ICCAS2006), October 18-21, 2006, BEXCO, Busan, Korea, pp.
5120–5125 (SP04-3).
139. Kiyotaka Izumi, Keigo Watanabe, Masaaki Shindo and Ryoichi Sato, “A Sensor Fusion Technique Using
Visual and Ultrasonic Information to Acquire Obstacle Avoidance Behaviors for Quadruped Robots,” SICEICASE International Joint Conference 2006 (SICE-ICCAS2006), October 18-21, 2006, BEXCO, Busan,
Korea, pp. 5120–5125 (SP04-2).
140. Kiyotaka Izumi, Akihito Tajima, and Keigo Watanabe, “The Design of Wave Shape for Coupled Van del Pol
Oscillators,” SICE-ICASE International Joint Conference 2006 (SICE-ICCAS2006), October 18-21, 2006,
BEXCO, Busan, Korea, pp.4220–4223 (FE12-2)
141. Keigo Watanabe, Chandimal Jayawardena, and Kiyuotaka Izumi, “Intelligent Interface Using Natural Voice
and Vision for Supporting the Acquisition of Robot Behaviors,” Proc. of The 5th IEEE Conference on
Sensors, Daegu, Korea, 22-25 October 2006, pp. 374–377
142. Chandima Dedduwa Pathiranage, Keigo Watanane, and Kiyotake Izumi, “Mobile Robot Simultaneous Localization and Mapping Using a Fuzzy Kalman Filter in Dynamic Environments,” Proc. of the 12th Int.
Symposium on Artificial Life and Robotics (AROB 11th ’07), Beppu, Oita, Japan, January 25–27, 2007,
CD-R (OS9-1), pp. 748–751.
143. Janaka Chaminda Balasuriya, Kouhei Kamohara, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and
Kiyotaka Izumi, “Kansei with Behavioral Patterns for Human-Robot Interaction in Ubiquitous Environments,” Proc. of the 12th Int. Symposium on Artificial Life and Robotics (AROB 11th ’07), Beppu, Oita,
Japan, January 25–27, 2007, CD-R (OS9-2), pp. 752–755.
144. Sajal Chandra Banik, Keigo Watanane, and Kiyotake Izumi, “Improvement of Group Performance of Job
Distributed Mobile Robots by Emotionally Biased Control System,” Proc. of the 12th Int. Symposium on
Artificial Life and Robotics (AROB 11th ’07), Beppu, Oita, Japan, January 25–27, 2007, CD-R (OS9-3), pp.
756–759.
145. Fusaomi Nagata, Yukihiro Kusumoto, and Keigo Watanabe, “Feed Rate Control Using Fuzzy Reasoning for
NC Machine Tools,” Proc. of the 12th Int. Symposium on Artificial Life and Robotics (AROB 11th ’07),
Beppu, Oita, Japan, January 25–27, 2007, CD-R (OS9-4), pp. 760–763.
146. Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, and Nobuhiro Uchida, “Control of Three-Link Underactuated Manipulators Using a Switching Method of Fuzzy Energy Regions,” Proc. of the 12th Int. Symposium
on Artificial Life and Robotics (AROB 11th ’07), Beppu, Oita, Japan, January 25–27, 2007, CD-R (OS9-5),
pp. 764–767.
– 53 –
147. Guang Lei Liu, Maki. K. Habib, Keigo Watanabe, and Kiyotaka Izumi, “Central Pattern Generators Based
on Matsuoka Oscillators for the Locomotion of Biped Robots,” Proc. of the 12th Int. Symposium on Artificial
Life and Robotics (AROB 11th ’07), Beppu, Oita, Japan, January 25–27, 2007, CD-R (OS9-6), pp. 768–773.
148. Kiyotaka Izumi, Keisuke Ichida, and Keigo Watanabe, “Switching Control with Fuzzy-Energy Regions for
Three-Link Underactuated Manipulators,” Proc. of Int. Conf. on Control, Instrumentation and Mechatronics
2007 (CIM07), Johor Bahru, Johor, Malaysia, May 28–29, 2007, pp. 877–882
149. Keigo Watanabe, Guang Lei Liu, Maki K. Habib, and Kiyotaka Izumi, “On Adaptation Term of Neural
Oscillators in CPG for the Locomotion of Biped Robots,” Proc. of Int. Conf. on Control, Instrumentation
and Mechatronics 2007 (CIM07), Johor Bahru, Johor, Malaysia, May 28–29, 2007, pp. 833–842
150. Maki K. Habib, Keigo Watanabe, and Kiyotaka Izumi, “Biomimetics: Intelligent Robots and Biological
Inspiration,” Proc. of Int. Conf. on Control, Instrumentation and Mechatronics 2007 (CIM07), Johor Bahru,
Johor, Malaysia, May 28–29, 2007, pp. 824–832
151. Janaka Chaminada Balasuriya, Chandrajith Ashuboda Marasinghe, Keigo Watanabe, and Minetada Osano,
“Kansei Analysis for Robotic Motions in Ubiquitous Environment,” Proc. of 12th Int.l Conf. on HumanComputer Interaction (HCI International 2007), Beijing, P.R. China, July 22–27, 2007
152. Chandima Dedduwa Pathiranage, Keigo Watanabe, and Kiyotaka Izumi, “Simultaneous Localization and
Mapping (SLAM) Based on Pseudolinear Measurement Model with a Bias Reduction Approach,” Proc. of
Second International Conference on Industrial and Information Systems (ICIIS 2007), August 8–11, 2007,
University of Peradeniya, Sri Lanka, CD-R (041)
153. Sajal Chandra Banik, Chandima Dedduwa Pathiranage, Keigo Watanabe, and Kiyotaka Izumi, “Behavior
Generation Through Interaction in an Emotionally Intelligent Robot System,” Proc. of Second International Conference on Industrial and Information Systems (ICIIS 2007), August 8–11, 2007, University of
Peradeniya, Sri Lanka, CD-R (042)
154. Janaka Chaminda Balasuriya, Keigo Watanabe, Achala Pallegedara, “ANFIS Based Active Personal Space
for Autonomous Robots in Ubiquitous Environments,” Proc. of Second International Conference on Industrial and Information Systems (ICIIS 2007), August 8–11, 2007, University of Peradeniya, Sri Lanka, CD-R
(043)
155. Janaka Chaminda Balasuriya, Keigo Watanabe, Achala Pallegedara, “Giving Robots Some Feelings Towards
Interaction With Humans in Ubiquitous Environment,” Proc. of Second International Conference on Industrial and Information Systems (ICIIS 2007), August 8–11, 2007, University of Peradeniya, Sri Lanka, CD-R
(044)
156. Kiyotaka Izumi, Keigo Watanabe, Shinichi Ishii, and Takuya Tokunaga, “Robotic Forceps Operated by
Voice Instructions in Fuzzy Coach-Player System,” Proc. of the 8th International Symposium on Advanced
Intelligent Systems (ISIS 2007), Sept. 5–8, 2007, Sokcho-City, Korea, pp. 546–551
157. Keigo Watanabe, Kiyotaka Izumi, and Kensaku Okamura, “Neural Network Based Two Degrees-of-Freedom
Design for Controlling Nonholonomic Mobile Robots,” Proc. of the 8th International Symposium on Advanced Intelligent Systems (ISIS 2007), Sept. 5–8, 2007, Sokcho-City, Korea, pp.848–851
– 54 –
158. Chandima Dedduwa Pathiranage, Keigo Watanabe and Kiyotaka Izumi, “A Solution to Simultaneous Localization and Mapping Problem Based on Fuzzy Kalman Filter using Pseudolinear Measurement Model,”
Proc. of the SICE Annual Conference 2007, September 17–20, 2007, Takamatsu, Japan, pp. 2364–2371
159. Keisuke Ichida, Kiyotaka Izumi, and Keigo Watanabe, “Energy Region Design of Using Projection for
Three-Link Underactuated Manipulators,” Proc. of the SICE Annual Conference 2007, September 17–20,
2007, Takamatsu, Japan, pp. 2379–2384
160. Guang Lei Liu, Maki K. Habib, Keigo Watanabe, Kiyotaka Izumi, “A Proposal of Central Pattern Generators
Composed of Matsuoka Oscillators for the Leg Movements of Human-like Robots,” Proc. of the SICE
Annual Conference 2007, September 17–20, 2007, Takamatsu, Japan, pp. 1019–1022
161. Sajal Chandra Banik, Keigo Watanabe and Kiyotaka Izumi, “Task Allocation with a Cooperative Plan for an
Emotionally Intelligent System of Multi-Robots,” Proc. of the SICE Annual Conference 2007, September
17–20, 2007, Takamatsu, Japan, pp. 1004–1010
162. Keigo Watanabe, Kiyotaka Izumi, Kohei Kamohara and Eisuke Yamada, “Feature Extractions for Estimating
Human Behaviors via a Binocular Vision Head,” Proc. of 2007 Int. Conf. on Control, Automation and
Systems (ICCAS 2007), October 17–20, 2007, Coex, Seoul, Korea, pp. 634–639
163. Kiyotaka Izumi, Keigo Watanabe, Keisuke Ichida, and Yoshihiro Tachibana, “The Design of Fuzzy Energy
Regions Optimized by GA for a Switching Control of Multi-Link Underactuated Manipulators,” Proc. of
2007 Int. Conf. on Control, Automation and Systems (ICCAS 2007), October 17–20, 2007, Coex, Seoul,
Korea, pp. 24–29
164. Keigo Watanabe, Kouki Tanaka, Kiyotaka Izumi, Kensaku Okamura, Rafiuddin Syam, “Discontinuous Control and Backstepping Method for the Underactuated Control of VTOL Aerial Robots with Four Rotors,”
Proc. of International Conference on Intelligent Unmanned Systems (ICIUS2007), October 24–25, 2007,
Bali, Indonesia, pp. 224–231
165. Kiyotaka Izumi, Keisuke Ichida, Keigo Watanabe, and Yuichi Kamada, “Monotonic Decreasing Energy
and Switching Control for Underactuated Manipulators,” Proc. of International Conference on Intelligent
Unmanned Systems (ICIUS2007), October 24–25, 2007, Bali, Indonesia, pp. 271–274
166. Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, Keigo Watanabe, and Maki K. Habib, “CAD/CAMbased Position/Force Control for a Ball-end Abrasive Tool and Its Application to an Industrial Robot,” The
4th International Conference on Leading Edge Manufacturing in 21st Century (LEM21), November 7-9,
2007, Fukuoka, Japan, pp. 113–118
167. Chandima Dedduwa Pathiranage, Keigo Watanane, and Kiyotake Izumi, “A Fuzzy Logic Based Approach
to the SLAM Problem using Pseudolinear Models with Multiframe Data Association,” Proc. of the 13th Int.
Symposium on Artificial Life and Robotics (AROB 13th ’08), Beppu, Oita, Japan, 31 January–2 February,
2008, pp. 767–770
168. Sajal Chandra Banik, Keigo Watanabe, and Kiyotaka Izumi, “A Computational Model of Emotion through
the Perspective of Benevolent Agents for a Cooperative Task,” Proc. of the 13th Int. Symposium on Artificial
Life and Robotics (AROB 13th ’08), Beppu, Oita, Japan, 31 January–2 February, 2008, pp. 771–774
– 55 –
169. Kouki Tanaka, Keigo Watanabe, Kiyotaka Izumi, and Kensaku Okamura, “An Underactuated Control for
VTOL Aerial Robots with Four Rotors via a Chained Form Transformation,” Proc. of the 13th Int. Symposium on Artificial Life and Robotics (AROB 13th ’08), Beppu, Oita, Japan, 31 January–2 February, 2008, pp.
775–778
170. Fusaomi Nagata, Tetsuo Hase, Zenku Haga, Masaaki Omoto, and Keigo Watanabe, “Intelligent Desktop NC
Machine Tool with Compliance Control Capability,” Proc. of the 13th Int. Symposium on Artificial Life and
Robotics (AROB 13th ’08), Beppu, Oita, Japan, 31 January–2 February, 2008, pp. 779–782
171. Kiyotaka Izumi, Shinichi Ishii, and Keigo Watanabe, “A Robotic Forceps Based on a Fuzzy Coach-Player
System Using Hierarchical Instructions,” Proc. of the 13th Int. Symposium on Artificial Life and Robotics
(AROB 13th ’08), Beppu, Oita, Japan, 31 January–2 February, 2008, pp. 783–786
172. Kiyotaka Izumi, Kohei Kamohara, and Keigo Watanabe, “Estimation System of Human Behaviors Using a
Fuzzy Neural Network Based Object Selection,” Proc. of the SICE Annual Conference 2008, August 20–22,
2008, Chofu, Tokyo, Japan, pp. 1989–1993
173. Kiyotaka Izumi, Ryoichi Sato, and Keigo Watanabe, “Generation of Obstacle Avoidance Behaviors for
Quadruped Robots Using a Finite Automaton,” Proc. of the SICE Annual Conference 2008, August 20–22,
2008, Chofu, Tokyo, Japan, pp. 2523–2527
174. Buddhika Jayasekara, Keigo Watanabe, and Kiyotaka Izumi, “Controlling a Robot Manipulator with Fuzzy
Voice Commands Guided by Visual Motor Coordination Learning,” Proc. of the SICE Annual Conference
2008, August 20–22, 2008, Chofu, Tokyo, Japan, pp. 2540–2544
175. Keigo Watanabe, Kensaku Okamura, Kouki Tanaka, and Kiyotaka Izumi, “A Discontinuous Control of
VTOL Aerial Robots with Four Rotors Through a Chained Form Transformation,” Proc. of 2008 Int. Conf.
on Control, Automation and Systems (ICCAS 2008), October 14–17, 2008, Coex, Seoul, Korea, pp. 804–809
176. Kiyotaka Izumi, Shinichi Ishii, and Keigo Watanabe, “Voice Control of a Robotic Forceps Using Hierarchical Instructions,” Proc. of 2008 Int. Conf. on Control, Automation and Systems (ICCAS 2008), October
14–17, 2008, Coex, Seoul, Korea, pp. 810–815
177. Buddhika Jayasekara, Keigo Watanabe and Kiyotaka Izumi, “Understanding User Commands by Evaluating
Fuzzy Linguistic Information Based on Visual Attention,” Proc. of the 14th Int. Symposium on Artificial
Life and Robotics (AROB 14th ’09), Beppu, Oita, Japan, February 5–7, 2009, pp. 716–719
178. Maki K. Habib, Keigo Watanabe, and Kiyotaka Izumi, “Biomimetic Intelligent Creatures and Artificial
Muscles,” Proc. of the 14th Int. Symposium on Artificial Life and Robotics (AROB 14th ’09), Beppu, Oita,
Japan, February 5–7, 2009, pp. 720–723
179. Keigo Watanabe, Takuya Tokunaga and Kiyotaka Izumi, “Voice-based Control of a Robotic Forceps by
Using Displayed Image and Auxiliary Information,” Proc. of the 14th Int. Symposium on Artificial Life and
Robotics (AROB 14th ’09), Beppu, Oita, Japan, February 5–7, 2009, pp. 724–727
180. G. B. P. Jayasekara, Keigo Watanabe, and Kiyotaka Izumi, “Evaluating Fuzzy Voice Commands by Internal
Rehearsal for Controlling a Robot Manipulator,” ICROS-SICE International Joint Conference 2009 (ICCASSICE 2009), August 18–21, 2009, Fukuoka, Japan
– 56 –
181. G. B. P. Jayasekara, Keigo Watanabe, and Kiyotaka Izumi, “Evaluating Fuzzy Voice Commands by User
Guided Visual Attention for Controlling a Robot Manipulator,” ICROS-SICE International Joint Conference
2009 (ICCAS-SICE 2009), August 18–21, 2009, Fukuoka, Japan
182. Kiyotaka Izumi, Takuya Tokunaga, and Keigo Watanabe, “Voice Instructions for Controlling a Robotic
Forceps with Image and Auxiliary Information,” ICROS-SICE International Joint Conference 2009 (ICCASSICE 2009), August 18–21, 2009, Fukuoka, Japan
– 57 –
4. Books
4.1 Single Work and Collaboration
1. Adaptive Estimation and Control: Partitioning Approach, Prentice-Hall International Ltd., Series in Systems
and Control Engineering, (単著，約 600 ページ）1991 年 10 月
2. Intelligent Control Based on Flexible Neural Networks, by M. Teshnehlab and K. Watanabe, Kluwer Academic Publishers, Microprocessor-based and Intelligent Systems Engineering Series（共著：235 ページ）
1999
3. Evolutionary Computations: New Algorithms and Their Applications to Evolutionary Robots, by Keigo
Watanabe and M.M.A. Hashem, Springer, Studies in Fuzziness and Soft Computing Series, (共著：172 ペー
ジ), 2004 年 3 月
4.2 Edit and Contribution
1. Stochastic Large-Scale Engineering Systems, Edited by S.G. Tzafestas and K. Watanabe, Marcel Dekker
(Electrical Engineering and Electronics Series), (1992),（第 7 章分担）（共編著：383 ページ）, “Filtering,
Smoothing and Control in Discrete-Time Stochastic Distributed Sensor Networks,” 1992 年 4 月
2. ニューラルネットワーク計算知能，編著者，渡辺桂吾，“摸擬経験を用いた適応アクター・クリティッ
ク法による移動ロボットの制御”，渡辺桂吾，ラフュッディン・シャム，泉 清高（13 章を担当）（編
著：295 ページ），森北出版，2006 年 9 月
4.3 Assignment
1. Fault Diagnosis in Dynamic Systems: Theory and Application, Edited by R.J. Patton, P.M. Frank and R.N.
Clark, Coauthored Book, Prentice-Hall International (UK) Ltd., (1989),（第 12 章分担）, “A Multiple Model
Adaptive Filtering Approach to Fault Diagnostic Systems,” 1989 年 8 月
2. Applied Control: Current Trends and Modern Methodologies, Edited by S.G. Tzafestas, Marcel Dekker,
(1993),（第 1 章分担）, “Failure Detection and Identification for Dynamic Systems: (I) Statistical Approaches,”（共著）1993 年 5 月
3. Applied Control: Current Trends and Modern Methodologies, Edited by S.G. Tzafestas, Marcel Dekker,
(1993),（第 2 章分担）, “Failure Detection and Identification for Dynamic Systems: (II) Analytical Redundancy Approaches,”（共著）1993 年 5 月
4. Digital and Numeric Techniques and Their Applications in Control Systems, Edited by C.T. Leondes, Academic Press, Series in Advances in Control and Dynamic Systems, Vol. 55, pp. 111–148, “Techniques for
Adaptive Estimation and Control of Discrete-Time Stochastic Systems with Abruptly Changing Systems,”
（共著） 1993 年
5. Fuzzy Reasoning in Information, Decision and Control Systems, Edited by S.G. Tzafestas and A.N. Venetsanopoulos, Kluwer Academic Publishers, （第 7 章分担）“Fuzzy Reasoning Through a General Neural
Network Model,”（共著）1994
– 58 –
6. Fuzzy Reasoning in Information, Decision and Control Systems, Edited by S.G. Tzafestas and A.N. Venetsanopoulos, Kluwer Academic Publishers, （第 18 章分担）“Fuzzy Control for Robot Manipulators with
Artificial Rubber Muscles,”（共著）1994
7. AI in Industrial Decision Making and Control, Edited by S.G. Tzafestas, Kluwer Academic Publishers,
(Chapter 12 分担), “Control Strategy of Robotic Manipulator based-on Flexible Neural Network Structure,”
（共著）1995
8. Fuzzy Logic and Expert Systems Applications, Edited by C.T. Leondes, Academic Press, (pp. 243–284)
“Mean-Value-Based Functional Reasoning Techniques in the Development of Fuzzy Neural Network Control Systems,”（共著）1998
9. Soft Computing for Intelligent Robotic Systems, Edited by L.C. Jain and T. Fukuda, Physica-Verlag, (第 1 章
1 分担, pp. 1–26) “A Fuzzy-Neural Realization of Behavior-Based Control Systems for a Mobile Robot,”
（共著）1998 年 12 月
10. Advances in Intelligent Autonomous Systems (IAS), Edited by S.G. Tzafestas, Kluwer Academic Publishers,
(第 13 章分担) “Autonomous Control for an Omnidirectional Mobile Robot with Feedback Control System,”
（共著）1999 年
11. Human Friendly Mechatronics—Selected Papers of the International Conference on Machine Automation
ICMA2000—, Edited by E. Arai, T. Arai, and M. Takano, Elsevier, “Polishing Robot with Human Friendly
Joystick Teaching System,” by F. Nagata and K. Watanabe, 2001, pp. 327–332
12. Intelligent Systems: Techniques and Applications, Edited by C.T. Leondes, CRC Press, “Neural Network
and Fuzzy Control Techniques for Robotic Systems,” by K. Kiguchi, K. Watanabe, and T. Fukuda, Vol.II,
73–95, 2002
13. Soft Computing in Measurement and Information Acquisition, Edited by L. Reznik and
V. Kreinovich, Physica-Verlag, “Evolutionary Dynamics Identification of Multi-Link Manipulators Using
Runge–Kutta–Gill RBF Networks,” by D. P. Thrishantha Nanayakkara, Keigo Watanabe, Kazuo Kiguchi,
and Kiyotaka Izumi, pp. 208–222, 2003
14. Control and Learning in Robotic Systems, Edited by John X. Liu, Nova Science Publishers, Inc. “Evolutionary Acquisition of Fuzzy Control Based Performance Skill Using a Three-Link Rings Gymnastic Robot,”
(by Takaaki Yamada, Keigo Watanabe, and Kazuo Kiguchi) 2005 (ISBN 1-59454-356-9), pp. 59–85
15. Control and Learning in Robotic Systems, Edited by John X. Liu, Nova Science Publishers, Inc. “MultiStage Learning Controller for Underactuated Robot Manipulators, ” (by Lanka Udawatta and Keigo Watanabe) 2005 (ISBN 1-59454-356-9), pp. 243–258
16. Integration of Fuzzy Logic and Chaos Theory, Edited by Zhong Li, W.A. Halang and Guanrong Chen,
Springer-Verlag, Series in Studies in Fuzziness and Soft Computing, Vol. 187 “Fuzzy-Chaos Hybrid Controllers for Nonlinear Dynamic Systems,” by K. Watanabe, L. Udawatta, and K. Izumi, 2006 (ISBN: 3-54026899-5), pp. 481–506
17. Artificial Intelligence and Integrated Intelligent Information Systems: Emerging Technologies and Applications, Editored by Xuan F Zha and R. J. Howlett, Idea Group Inc. “Fuzzy Coach-Player System for
Controlling a Robot Manipulator,”(by Chandimal Sanjeeval Jayawardena, Keigo Watanabe and Kiyotaka
Izumi), pp. 229–250 (chapter 12), October 2006
– 59 –
18. Mobile Robotics, Moving Intelligence, Edited by Jonas Buchli, Advanced Robotic Systems, Vienna, Austria, EU “Acquisition of Obstacle Avoidance Actions with Free-Gait for Quadruped Robots,” (by Tomohiro
Yamaguchi, Keigo Watanabe and Kiyotaka Izumi), pp. 535–556, December 2006
19. Industrial Robotics, From design to applications, Edited by Vedran Kordic, Aleksandar Lazinica and Munir
Merdan, Advanced Robotic Systems, Vienna, Austria, EU “Joystick Teaching System for Industrial Robots
Using Fuzzy Compliance Control,” (by Fusaomi Nagata, Keigo Watanabe, and Kazuo Kiguchi), pp. 799–
812, 2007
20. Bioinspiration and Robotics: Walking and Climbing Robots, Edited by Maki K. Habib, I-Tech Education and
Publishing, Vienna, Austria, “Selection of Obstacle Avoidance Behaviors Based on Visual and Ultrasonic
Sensors for Quadruped Robots,” (by Kiyotaka Izumi, Ryoichi Sato, Keigo Watanabe and Maki K. Habib),
pp. 107–126, Sept. 2007.
21. Sensors: Advancement in Modeling, Design Issues, Fabrication and Practical Applications (Lecture Notes
on Electrical Engineering Vol. 21), Edited by S.C. Mukhopadhyay and R.Y.M. Huang, Springer-Verlag,
“Affection Based Multi-Robot Team Work,” (by Sajal Chandra Banik, Keigo Watanabe, Maki K. Habib,
Kiyotaka Izumi), pp. 355–375, 2008.
22. The Handbook of Research on Synthetic Emotions and Sociable Robotics: New Application in Affective
Computing and Artificial Intelligence, Edited by Jordi Vallverdu and David Casacuverta, IGI Global Publisher, “Multi-Robot Team Work with Benevolent Characters: The Roles of Emotions,” (by Sajal Chandra
Banik, Keigo Watanabe, Maki K. Habib, Kiyotaka Izumi), Chapter 4, pp. 57–73, 2009.
23. Industrial Robots: Research, Technology and Applications, Edited by Frank Columbus, Nova Science Publishers, ”Position/Force Control and Its Application to Open Architectural Industrial Robots,” (F. Nagata,
K. Watanabe, T. Hase, Z. Haga, M. Omoto, K. Tsuda, O. Tsukamoto, M. Komino and Y. Kusumoto) to be
published, 2009.
24. Advances in Robot Manipulators, IN-TECH, “Desktop NC Machine Tool with Abilities of Compliant Motion and Stick-Slip Motion,” (by Fusaomi Nagata, Shintaro Tani, Takanori Mizobuchi, Tetsuo Hase, Zenku
Haga, Keigo Watanabe), to be published, 2009.
– 60 –
5. Reviews
1. 渡辺桂吾, “ロボットのインテリジェント制御”，計測と制御，Vol. 35, No. 11, pp. 863–868, 1996.
2. 渡辺桂吾, “ロボットの制御技術評価（１）— 非線形制御法を中心に—”，機械の研究，Vol. 49, No. 7,
pp. 725–730, 1997.
3. 渡辺桂吾, “ロボットの制御技術評価（２）— インテリジェント制御法を中心に—”，機械の研究，Vol.
49, No. 8, pp. 849–855, 1997.
4. 渡辺桂吾，泉 清高，“バイオミメティックマシンとロボット：ファジィ推論技法による接近”, シミュ
レーション学会小特集「制御工学への知能科学からの接近」，Vol. 26, No. 1, pp. 26–32, 2007
6. Reports
1. 添田 喬，芳村敏夫，渡辺桂吾, “モデル規範適応系に基づいたプラント故障診断の一方法”, 徳島大学
工学部研究報告， Vol. 23, pp. 115–127 (1978)
2. 渡辺桂吾, “連続時間確率分布定数系の新しい多重モデル適応フィルタ”, 九大工学集報，Vol. 55, No. 4,
pp. 389–398 (1982)
3. 岩崎松之助，渡辺桂吾, 久保田 聡, “後流変形を考慮した渦理論による静止状態のプロペラの性能計算
と実験”, 九大工学集報，Vol. 55, No. 4, pp. 379–387 (1982)
4. 陳 相浩，渡辺桂吾，中村政俊，“ゴム人工筋ロボットマニピュレータの軌道追従制御 — シミュレー
ションと実験 —”，佐賀大学理工学部集報， Vol. 21, No. 1, pp. 7–18 (1992)
5. 渡辺桂吾，湯 軍，“ニューロ・ファジィ制御器の設計について”，佐賀大学理工学部附属海洋温度差
エネルギー実験施設報告， No. 4, pp. 53–69 (1993)
6. 渡辺桂吾，“平均値関数型推論とそのファジィ制御器設計への応用”，佐賀大学理工学部集報，Vol. 22,
No. 1, pp. 23–32 (1993)
7. 陳 相浩，渡辺桂吾，中村政俊，“ゴム人工筋ロボットマニピュレータの非線形制御”，佐賀大学理工
学部集報，Vol. 22, No. 1, pp. 33–43 (1993)
8. J. Tang, I. Kimura and K. Watanabe, “The Application of a Fuzzy Logic Controller to Hospital Guide and
Carry Robot”，佐賀大学理工学部集報， Vol. 23, No. 1, pp. 9–18 (1994)
9. 湯 軍，渡辺桂吾，中村政俊，原 勝弘，凌 輝雄，濱田知志， “２輪独立駆動型移動ロボット車の
軌道追従制御実験”，佐賀大学理工学部集報， Vol. 23, No. 1, pp. 19–30 (1994)
10. M. Teshnehlab and K. Watanabe, “Intelligent Control Based on Flexible Neural Networks,” 佐賀大学理工
学部集報，Vol. 23, No. 2, pp. 1–21 (1995)
11. 泉 清高，渡辺桂吾，中村政俊，大坪孝彰， “マッチング条件を利用しない簡略型適応非線形ロバス
ト制御”，佐賀大学理工学部集報， Vol. 24, No. 2, pp. 13–20 (1996)
12. 泉 清高，渡辺桂吾，中村政俊，大坪孝彰， “最適サーボ機構を利用した簡略型適応非線形ロバスト
制御”，佐賀大学理工学部集報， Vol. 24, No. 2, pp. 21–26 (1996)
– 61 –
13. 渡辺桂吾，西川正晃，“分解加速度制御に基づくパラレルリンクマニピュレータの順運動学の一解法”，
佐賀大学理工学部集報， Vol. 25, No. 1, pp. 27–33 (1996)
14. K. Watanabe and K. Hara, “Fuzzy-Neural Network Controllers Using the Mean-Value-Based Functional
Reasoning,” Japanese J. of Fuzzy Theory and Systems, Vol. 7, No. 3, pp. 427–442 (1996)（翻訳）
15. 渡辺桂吾，泉 清高，“あいまい行動型制御系の構成”, 佐賀大学理工学部集報，Vol. 25, No. 2, pp. 1–7
(1997)
16. 泉 清高，渡辺桂吾，“自律移動ロボットのあいまい行動型制御 — 目標地点到達制御 —”, 佐賀大学
理工学部集報，Vol. 25, No. 2, pp. 167–175 (1997)
17. M.M.A. Hashem, K. Watanabe and K. Izumi, “A New Evolution Strategy with the Elite and Mean of Individuals in a Population”, 佐賀大学理工学部集報， Vol. 26, No. 1, pp. 21–31 (1997)
18. 渡辺桂吾，湯 軍，韓 福華，“ファジィモデルを用いた全方向移動ロボット車の旋回制御”, 佐賀大
学理工学部集報， Vol. 26, No. 1, pp. 13–20 (1997)
19. 韓 福華，渡辺桂吾，泉 清高，“確率ファジィサーボ法による全方向移動ロボット車の旋回制御”, 佐
賀大学理工学部集報， Vol. 26, No. 2, pp. 37–47 (1997)
20. K. Watanabe, K. Sato and A. Nomiyama, “Stability Analysis of Fuzzy Systems as Periodically Time-Varying
Systems,” Japanese J. of Fuzzy Theory and Systems, Vol. 9, No. 4, pp. 419–434 (1997)（翻訳）
21. 泉 清高，渡辺桂吾，平尾 剛，三隅 学，“ファジィ補償による異種マニピュレータ間の協調力制
御”, 佐賀大学理工学部集報， Vol. 27, No. 1, pp. 15–22 (1998)
22. P. Dassanayake, K. Watanabe and K. Izumi, “Obstacle Avoidance of Multi-Link Manipulators Using Fuzzy
Behavior-Based Control,” 佐賀大学理工学部集報， Vol. 28, No. 1, pp. 21–39 (1999)
23. 永田寅臣，津田邦博，川口修司，原 健二，松山拓郎，渡辺桂吾， “曲面を有する家具部材の自動研
磨ロボットの開発”, 木工機械グラフ， Vol. 33, No. 5, pp. 20–25 (2001)
24. 渡辺桂吾， “The 10th International Symposium on Artificial Life and Robotics (AROB 10th ’05) 開催報
告”, 計測と制御，Vol. 44, No. 6, p. 422 (2005)
25. 渡辺桂吾，“産学連携—その前に研究時間の確保を！”, 知能と情報，Vol. 19, No. 4, p. 315 (2007)
7. Patents
1. ロボットの力制御方法、出願日:平成 10 年 6 月 19 日、出願番号: 特願平 10-173509
(a) 発明者：永田寅臣（福岡県工業センター），渡辺桂吾（佐賀大学）
(b) 特徴： ファジィ環境モデルを用いた力制御法; 遺伝的アルゴリズムでファジィ環境モデルを
学習させる方法; 材料の剛性を推定して目標粘性を生成する方法
(c) 審査請求：福岡県工業技術センターが審査請求中
2. ロボットの力制御方法、出願日:平成 11 年 8 月 27 日、出願番号: 特願平 11-241771
(a) 発明者：永田寅臣（福岡県工業センター），渡辺桂吾（佐賀大学）
– 62 –
(b) 特徴： 多軸制御用 CL データに基づくロボットアームの倣い制御法（位置・姿勢・力制御）;
ファジィ力制御補償器; 材料の剛性を推定して目標粘性を生成する方法)
(c) 審査請求：福岡県工業技術センターが審査請求中
3. ロボットの軌跡の教示方法、出願日:平成 12 年 7 月 3 日、出願番号: 特願 2000-201387
(a) 発明者：永田寅臣（福岡県工業センター），津田邦博（エーエスエー・システムズ），渡辺桂吾
（佐賀大学）
(b) 特徴： ジョイスティック支援による教示方法;
法（速度型）)
ジョイスティック教示で使用されている力制御
(c) 審査請求：平成 19 年 7 月までに ASA システムズが審査請求を行う予定
4. 研磨装置及び研磨方法、出願日:平成 14 年 9 月 30 日、出願番号: 特許 2002-286901
(a) 発明者：永田寅臣（福岡県工業センター），楠本幸裕，渡辺桂吾（佐賀大学），津田邦博，安田
仁徳（エーエスエー・システムズ）
(b) 特徴： 研磨工具の押付力と摩擦力を考慮した磨き方法;
磨面を変化させる方法
低速回転により，研磨工具先端の研
(c) 審査請求：ASA システムズが現在審査請求中
その他：これらの特許を生み出した NEDO プロジェクト「2000 年度，インテリジェント力制御を用
いた研磨ロボットシステムの研究開発」と「2002 年度，自由曲面金型のスーパー磨き自動仕上げシ
ステムの開発」を通して，製品「インテリジェントサンダーロボ」が株式会社エーエスエー・システ
ムズから売り出されており，最近２台のロボットが売買契約され（航空機関連，石川島播磨），今後
は台数も期待できるとのエーエスエー・システムズからの連絡を共同研究者の永田氏を通してあった
（2007 年 5 月現在）．
参照 http://www.asasystems.co.jp/products/robot/product robot.html
– 63 –
8. Conferment Number of Ph.D. Degrees
1. 陳 相浩：ゴム人工筋ロボットマニピュレータの制御法に関する研究， 1994 年 3 月
Sangho Jin: A Study on Control Methods of a Manipulator with Artificial Rubber Muscles, March, 1994
2. 湯 軍：自律移動ロボット車の制御法に関する研究， 1995 年 3 月
Jun Tang: Study on Control Methods for the Autonomous Mobile Robot, March, 1995
3. Mohammad Teshnehlab: Neural Network-Based Controls Using Flexible Neuron Models, March, 1995
4. 泉 清高：ロボットマニピュレータの簡略型適応非線形ロバスト制御法に関する研究， 1996 年 3 月
Kiyotaka Izumi: Study on Simplified Adaptive Nonlinear Robust Control Method for Robot Manipulators,
March, 1996
5. 永田寅臣：産業用ロボットのための学習型ファジィ環境モデルを用いた位置指令インピーダンス制御
法に関する研究， 1999 年 3 月
Fusaomi Nagata: Study on Impedance Control Method Based on Position Commands Using Learning Fuzzy
Environmental Models for Industrial Robots, March 1999
6. M.M.A. Hashem: Global Optimization Through a New Class of Evolutionary Algorithms, September 1999
進化アルゴリズムの新しいクラスによる大域的最適化
7. Palitha Dassanayake: Control and Obstacle Avoidance of Multi-Link Manipulators Using Fuzzy BehaviorBased Approach, September 2000
あいまい行動手法による多リンクマニピュレータの制御と障害物回避， 2000 年 9 月
8. Xue-Dong Chen: A Systematic Study on Crawl Locomotion Control for a Quadruped Robot, March 2001
陳 学東：４脚ロボットのクロール歩行制御に関する研究， 2001 年 3 月
9. 韓 福華：アクティブ双輪キャスタ機構を用いた全方向移動ロボット車に関する研究， 2001 年 9 月
Fuhua Han: Study on Omnidirectional Mobile Robots Using Active Dual Caster Mechanisms, September
2001
10. Thrishanta Nanayakkara: An Evolutionary Approach to Skillful Motion Control of Industrial Robots, September 2001
産業用ロボットの巧妙運動制御への進化アプローチ， 2001 年 9 月
11. 山田隆明: つり輪ロボットによる演技スキルの獲得に関する研究， 2003 年 3 月
Takaaki Yamada: Study on the Acquisition of Performance Skills by Rings Robots, March 2003
12. Sisil Priyantha Kumarawadu: Direct Closed-Loop Neurocontrol for Self-Adaptive Output Tracking of Partly
Known Robotic Systems, March 2003
部分既知ロボットシステムの自己適応出力追従のための直接閉ループニューロ制御， 2003 年 3 月
13. Lanka Udawatta: Control of Underactuated Robot Manipulators with Switching Controllers, September
2003
切換え制御器を用いた劣駆動ロボットマニピュレータの制御， 2003 年 9 月
14. Koliya N. Pulasinghe: Interpreting Fuzzy Linguistic Information in Natural Language Commands for Robots,
September 2003
ロボットの自然言語命令におけるあいまい言語情報の解釈， 2003 年 9 月
– 64 –
15. Xin Yang: Control of Cooperative Transportation Systems with Multiple Nonholonomic Mobile Robots,
September 2003
楊 新：複数非ホロノミック移動ロボットを用いた協調運搬システムの制御， 2003 年 9 月
16. 山口智浩：ニューラルネットワークを用いた 4 脚歩行ロボットの障害物回避行動の獲得に関する研究，
2004 年 3 月
Tomohiro Yamaguchi: Study on the Acquisition of Obstacle Avoidance Behaviors for Quadruped Robots
Using NN Techniques, March 2004
17. Sherwin A. Guirnaldo: Perception Control for Robotic Systems Using Expectation Learning and Perceptual
Anchoring, September 2004
期待値学習および知覚アンカリングを用いたロボットシステムの知覚制御， 2004 年 9 月
18. Rafiuddin Syam: Biomimetic Control Methods for Nonholonomic Mobile Robots, March 2005
非ホロノミック移動ロボットのバイオミメティック制御法， 2005 年 3 月
19. 鶴田浩輔: 時空間勾配解析に基づくブラインド信号分離による自律型音源分離マイクロホンシステム
の研究，2005 年 9 月
20. Samy Farid Mohamed Assal: Kinematic Inversion of Redundant Manipulators by Fusing Fuzzy Hint and
Neural Network, March 2006
ファジィヒントとニューラルネットワークの融合による冗長マニピュレータの運動学的逆問題， 2006
年3月
21. Jayawardena Chandimal Sanjeeva: Learning from Natural Language Instructions in Fuzzy Coach-Player
Systems, September 2006
ファジィコーチプレイヤーシステムの自然言語指令による学習， 2006 年 9 月
22. Janaka Chaminda Balasuriya: Kansei Analysis for Human-Autonomous Robot Interactions in Ubiquitous
Environments, September 2007
ユビキタス環境における人と自律ロボットの相互作用のための感性解析， 2007 年 9 月
23. 一田啓介: 劣駆動マニピュレータの切換え制御法に関する研究， 2008 年 3 月
Keisuke Ichida: Study on a Switching Control Method for Underactuated Manipulators, March 2008
24. Guang Lei Liu: Bipedal Locomotion based on Central Pattern Generators, March 2008
劉 光磊: 中枢パターン発生器に基づく二足歩行移動， 2008 年 3 月
25. Dedduwa Pathiranage Chandima: Solutions to Simultaneous Localization and Mapping Problem Using
Pseudolinear Models, March 2009
擬似線形モデルによるローカライゼーションと地図生成の同時問題の解法， 2009 年 3 月
26. Sajal Chandra Banik: A Computational Model of Emotion and Its Application to a Multiagent Robotic
System, March 2009
感情の計算モデルとそのマルチエージェントロボットシステムへの応用， 2009 年 3 月
– 65 –
9. Awards
9.1 Awards to Which Prof. Watanabe is Related
1. 昭和 63 年 11 月 12 日 第４回高柳研究奨励賞， 多重モデル法による適応カルマンフィルタと制御
に関する研究， (財) 浜松電子工学奨励会
2. 平成 12 年 6 月 Joseph F. Engelberger Best Paper Award, 第 4 回 World Automation Congress (Hawaii,
USA)
対象論文：Intelligent Adaptive Position/Force Control of Robot Manipulators Using Softcomputing, by K.
Kiguchi, K. Watanabe, K. Izumi, and T. Fukuda
3. 平成 14 年 10 月 Excellent Presentation Award, 1st Int. Conf. on Soft Computing and Intelligent
Systems (SCIS 2002, Tsukuba, Japan)
対象論文：Learning Sensor Based Obstacle Avoidance Behavior with Unreliable Sensory System Using
RBF Neural Network Based Perception Control, by Sherwin Guirnaldo, Keigo Watanabe, Kiyotaka Izumi,
and Kazuo Kiguchi,
4. 平成 14 年 12 月 「論文校閲」感謝状，日本機械学会
5. 平成 14 年 12 月 SI2002 ベストセッション賞， 第 3 回システムインテグレーション部門講演会 (神
戸)，計測自動制御学会
対象論文：非線形期待値学習を用いたロボットの知覚制御，泉清高，ガーナルドシェルウィン，渡辺
桂吾，木口量夫
6. 平成 15 年 1 月 25 日 AROB Academic Achievement Award, The 8th International Symposium on
Artificial Life and Robotics (AROB 8th, Beppu, Oita)
対象理由：人工生命とロボット学の分野でのこれまでの顕著な学術功績に対して日本を始めとするヨー
ロッパ，アジア，米国等から 3 個人（または団体）が選ばれ，そのうちの 1 団体として渡辺＋泉がこ
の賞を授与された．その他のものは．合原一幸教授（東京大学），下原勝憲 博士（ATR））であった．
7. 平成 15 年 1 月 25 日 AROB Best Paper Award, The 8th International Symposium on Artificial Life
and Robotics (AROB 8th, Beppu, Oita)
対象論文：Evolutionary Acquisition of Handstand Skill Using a Three-Link Rings Gymnastic Robot, by
Takaaki Yamada, Keigo Watanabe, Kazuo Kiguchi, and Kiyotaka Izumi
160 件近い発表論文のうち， 6 件の最優秀論文賞が選ばれその内の１つとして授与された．
8. 平成 16 年 6 月 19 日 2003 年度 部門貢献表彰，日本機械学会ロボティクス・メカトロニクス部門，
日本機械学会
9. 平成 16 年 8 月 26 日 Outstanding Paper Award, 2004 Int. Conf. on Control, Automation and Systems
(ICCAS 2004, Bangkok, Thailand)
対象論文：Probabilistic Neural Network Based Learning from Fuzzy Voice Commands for Controlling a
Robot, by Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi
15 カ国，600 件近い投稿論文があり最終的に 400 件以上の論文が採択されたが，この採択論文のうち
2 件がこの Outstanding Paper Award として表彰され，そのうちの１つである．
10. 平成 16 年 9 月 24 日 Excellent Presentation Award, 2nd International Conference on Soft Computing
and Intelligent Systems, and 5th International Symposium on Advanced Intelligent Systems (SCIS&ISIS2004,
– 66 –
Yokohama)
対象論文：Intelligent Sub-coach Construction in a Fuzzy Coach-Player System for Controlling a Robot
Manipulator, by Chandimal Jayawardena, Keigo Watanabe, and Kiyotaka Izumi
11. 平成 16 年 12 月 6 日 Great Honor as Keynote Speaker at Mechanical Engineering Seminar III, Indonesia, Softcomputing Techniques and Their Applications to Intelligent Robots, Department of Mechanical Engineering, Hasanuddin University (Makassar, Indonesia)
100 件近いセミナーのうち，キーノートセミナーはインドネシア政府からの Wiranto Arismunandar 氏
と日本から渡辺の 2 名が行い，両者ともにこの表彰状と盾が贈られた．
12. 平成 16 年 12 月 6 日 Great Honor as Advisory Professor at Graduate School of Engineering, Department of Mechanical Engineering, Hasanuddin University, Indonesia, Graduate School of Engineering, Department of Mechanical Engineering, Faculty of Engineering, Hasanuddin University (Makassar, Indonesia)
これまでのソフトコンピューティング，ロボットおよびメカトロニクスでの国際的貢献に対して，顧
問教授としての表彰状と盾が贈られた．
13. 平成 16 年 12 月 19 日 SI2004 ベストセッション講演賞，第 5 回システムインテグレーション部門
講演会 (つくば)，
（社）計測自動制御学会
対象論文：機械加工後の自由曲面金型を仕上げるロボット，永田寅臣，楠本幸裕，安田仁徳，長谷哲
夫，芳賀善九，尾本正明，渡辺桂吾
14. 平成 17 年 8 月 9 日 SICE-ICASE International Joint Conference 2006 Certificate，The Institute of Control,
Automation and Systems Engineers, Korea (SICE2005, Okayama)
対象理由：SICE-ICCAS 2006 の Special Session Co-Chair として選ばれたことに対する賞状.
15. 平成 17 年 9 月 29 日 ISIS 2005 Certificate of Recognition, The 6th International Symposium on Advanced
Intelligent Systems (ISIS 2005, Yeosu, Korea)
対象理由：ISIS 2005 への貢献に対して日本を代表して選ばれ，もう一人は韓国, 木浦（Mokpo）大学
の Young-Jae Ryoo 教授であった.
16. 平成 17 年 9 月 30 日 ISIS 2005 Outstanding Paper Award，The 6th International Symposium on Advanced
Intelligent Systems (ISIS 2005, Yeosu, Korea)
対象論文：Fuzzy Decision Making for Guiding Autonomous Mobile Robots in Ubiquitous Environment
Using Binocular Vision System, by Janaka Chaminda Balasuriya, Keigo Watanabe, and Kiyotaka Izumi
17. 平成 18 年 9 月 21 日 Session Best Presentation Award，Joint 3rd International Conference on Soft Computing and Intelligent Systems and 7th International Symposium on Advanced Intelligent Systems (SCIS &
ISIS 2006, Tokyo)
対象論文：The Parameter Design of Central Pattern Generators Composed of Some Matsuoka Oscillators
for the Leg Movements of Human-like Robots, by Guang Lei Liu, Keigo Watanabe and Kiyotaka Izumi
18. 平成 18 年 9 月 24 日 SCIS & ISIS 2006 Recognition Award，Joint 3rd International Conference on Soft
Computing and Intelligent Systems and 7th International Symposium on Advanced Intelligent Systems
(SCIS & ISIS 2006, Tokyo)
対象理由：SCIS & ISIS 2006 への貢献に対して.
– 67 –
19. 平成 19 年 2 月 22 日 SICE-ICASE International Conference 2006 感謝状, 計測自動制御学会（The Society
of Instrument and Control Engineers）
Special Session Co-Chair of Organizing Committee and Outstanding Paper Awards Committee Chair に対す
る貢献に対して（参加者 1,433 名，論文投稿数 1,407（31 カ国），採択論文数 1,228 編の盛大な日本と韓
国の共同主催の成果に対して，特に Special Session Co-Chair of Organizing Committee and Outstanding
（韓国側 7 名，日本側 7 名のうちの 1 人として
Paper Awards Committee Chair に対する貢献に対して，
表彰された）
20. 平成 19 年 5 月 28 日 Best Invited Paper Award, The International Conference on Control, Instrumentation
and Mechatronics Engineering, 2007 (CIM ’07, Johor Bahru, Malaysia)
対象論文：On Adaptation Term of Neural Oscillators in CPG for the Locomotion of Biped Robots, by Keigo
Watanabe, Guang Lei Liu, Maki K. Habib, and Kiyotaka Izumi
21. 平成 19 年 10 月 25 日 Best Paper Nominee Award, International Conference on Intelligent Unmanned
Systems (ICIUS2007, Bali, Indonesia)
対象論文：Discontinuous Control and Backstepping Method for the Underactuated Control of VTOL Aerial
Robots with Four Rotors, by Keigo Watanabe, Kouki Tanaka, Kiyotaka Izumi, Kensaku Okamura, Rafiuddin
Syam
22. 平成 20 年 7 月 16 日, Best Presentation Award, Sixth International Conference on Industrial Informatics
(INDIN 2008, Daejeon, Korea)
対象論文: Locomotion Pattern Generation of Semi-Looper Type Robots Using Central Pattern Generators
Based on Van der Pol Oscillators, by Keigo Watanabe, Akihito Tajima and Kiyotaka Izumi
23. 平成 19 年 12 月 22 日 SI2007 ベストセッション講演賞，第 8 回システムインテグレーション部門
講演会，
（社）計測自動制御学会
対象論文：チェインドフォーム変換を用いた VTOL 型飛行ロボットの劣駆動制御，田中康貴，渡辺桂
吾，泉 清高，岡村建作
9.2 Awards of Other Members
1. 1999 年 1 月 平成 10 年度 SICE 九州支部学術奨励賞，
（対象者：佐藤和也助教授，題目「適応型 PI
制御法による全方向移動ロボット車の制御と過渡特性改善に関する一考察」，共著者：佐藤和也，渡
辺桂吾，泉 清高，渡辺 誠）計測自動制御学会九州支部
2. 1999 年 6 月 平成 11 年度日本ファジィ学会奨励賞，
（対象者：泉 清高助手，題目「進化戦略学習
による移動ロボット車のあいまい行動型制御」，共著者：泉 清高，渡辺桂吾）日本ファジィ学会
3. 2000 年 10 月 Student Paper Award of IIZUKA 2000 (6th International Conference on Soft Computing),
（対象者：Lanka Udawatta「Fuzzy-Chaos Hybrid Controller for 3-Dimensional Attractors」, written by L.
Udawatta, K. Watanabe, K. Kiguchi, and K. Izumi）IIZUKA 2000 Organizing Committee
（対象者：永田寅臣，題目「自由曲面研磨のた
4. 2002 年 10 月 日本木材加工技術協会関西支部長賞，
めの３次元ロボットサンダーの開発」，共著者：永田寅臣，楠本幸裕，津田邦宏，安田仁徳，渡辺桂
吾，村瀬安英）日本木材加工技術協会
– 68 –
5. 2003 年 2 月 Excellent Student Award of the IEEE Fukuoka Section (平成 15 年 2 月) （対象者：Takaaki
Yamada「Acquiring Performance Skill of Backward Giant Circle by a Rings Gymnastic Robot, IEEE International Conference on Robotics and Automation (ICRA2002), pp. 1565-1570」，共著者： Takaaki
Yamada, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi）IEEE Fukuoka Section
6. 2003 年 4 月 Recognition of Excellence for Oral Presentation in the Session （対象者：Kazuo Kiguchi
「An Assist Level Adjustment Method of an Active Shoulder Orthosis, the 8th International Conference on
Rehabilitation Robotics (ICORR2003), pp. 147-150」，共著者：Kazuo Kiguchi, Koya Iwami, Keigo Watanabe, Toshio Fukuda）the 8th International Conference on Rehabilitation Robotics (ICORR2003, Daejeon,
Korea) Organizing Committee
7. 2004 年 9 月 Student Award （対象者：Rafiuddin Syam「A Neurointerface Construction for Controlling Nonholonomic Mobile Robots by Virtual Master-Slave Concept, Mechatronics & Robotics 2004
(Mechrob04, Aachen, Germany), September 13–15 , 2004」，共著者： Rafiuddin Syam, Keigo Watanabe,
and Kiyotaka Izumi）IEEE Industrial Electronics Society, APS–European Centre for Mechatronics
8. 2005 年 3 月 2004 年度日本機械学会三浦賞（対象者：一田 啓介）
9. 2006 年 3 月 2005 年度日本機械学会三浦賞（対象者：Chandima Dedduwa Pathiranage）
10. 2007 年 11 月 優秀学生講演賞（対象者：田中康貴，題目「バックステッピング法による VTOL 型飛
行ロボットの劣駆動不連続制御」，共著者：田中康貴，渡辺桂吾，泉清高，岡村建作）日本航空宇宙
学会西部支部
10. Summary of Results
Journals and Transactions
Int. Proceedings
Books
Others
a. International
179
b. Domestic
61
c. Total (a+b)
240
a. Full paper review
193
b. Abstract review
182
c. Total (a+b)
375
a. Single work and Collaboration
3
b. Edit and Contribution
2
c. Assignment
24
Reviews
4
Reports
25
Domestic Procs.
450
Conferment Number of Ph.D. Degrees
Awards
26
23
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Others
11. Biography
Professor Watanabe
Tel: +81-86-251-8064
Fax: +81-86-251-8064
E-mail:
[email protected]
Keigo Watanabe received the B.E. and M.E. degrees in mechanical engineering from the University of Tokushima,
Tokushima, Japan, in 1976 and 1978, respectively, and the D.E. degree in aeronautical engineering from Kyushu
University, Fukuoka, Japan, in 1984.
From 1980 to March 1985, he was a Research Associate at Kyushu University. From April 1985 to March 1990,
he was an Associate Professor at the College of Engineering, Shizuoka University, Shizuoka, Japan. From April
1990 to March 1993, he was an Associate Professor, and from April 1993 to March 1998, he was a Full Professor
in the Department of Mechanical Engineering, Saga University, Saga, Japan. Since April 1998, he has been with
the Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga
University. From April 2009, he is now with the Department of Intelligent Mechanical Systems, Division of
Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University.
He has published more than 600 technical papers in transactions, journals, and international conference proceedings, and is the author or editor of 25 books, including Adaptive Estimation and Control (Englewood Cliffs, NJ:
Prentice-Hall, 1991), Stochastic Large-Scale Engineering Systems (New York: Marcel Dekker, 1992), Intelligent
Control Based on Flexible Neural Networks (Norwell, MA: Kluwer, 1999) and Evolutionary Computations: New
Algorithms and Their Applications to Evolutionary Robots (Berlin: Springer, 2004). He is an Active Reviewer of
many journals and transactions, an editorial board of Journal of Robotics, and a deputy editor of Artificial Life and
Robotics. His research interests are in intelligent signal processing and control using softcomputing, bio-inspired
robotics, and nonholonomic systems.
Dr. Watanabe is a Member of the Society of Instrument and Control Engineers, Japan Society of Mechanical
Engineers, Japan Society for Precision Engineering, Institute of Systems, Control and Information Engineers, the
Japan Society for Aeronautical and Space Sciences, Robotics Society of Japan, Japan Society for Fuzzy Theory
and Intelligent Informatics, and IEEE (Robotics and Automation Society; Control Systems Society; Systems, Man,
and Cybernetics Society; Industrial Electronics Society; Computational Intelligence Society).
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