Journal Papers

[19] Ken Masuya and Tomomichi Sugihara, COM Motion Estimation of a Biped Robot Based on Kinodynamics and Torque Equilibrium, Advanced Robotics, Vol. 30, Issue 10, pp.691-703, Mar., 2016. DOI: 10.1080/01691864.2016.1150201
[18] Ken Masuya and Tomomichi Sugihara, Dead reckoning for biped robots that suffers less from foot contact condition based on anchoring pivot estimation, Advanced Robotics, Open access in online, 27, Vol. 29, Issue 12, pp.785-799, Mar., 2015. DOI: 10.1080/01691864.2015.1011694 [Available at Taylor and Francis Online]
[17] Toshiya Nishi and Tomomichi Sugihara, Motion Planning of a Humanoid Robot in a Complex Environment Using RRT and Spatiotemporal Post-Processing Techniques, International Journal of Humanoid Robotics, Vol. 11, No. 2, 14410035 (35 pages), 2014. [Available at World Scientific]
[16] Tomomichi Sugihara, Ken Masuya and Motoji Yamamoto, A Complementary Filter for High-fidelity Attitude Estimation based on Decoupled Linear / Nonlinear Properties of Inertial Sensors, Journal of the Robotics Society of Japan, Vol.31, No.3, pp.251-262, 2013.
[15] Tomomichi Sugihara, Solvability-Unconcerned Inverse Kinematics by the Levenberg-Marquardt Method, IEEE Transaction on Robotics, Vol.27, Issue.5, pp.984-991, 2011.
(C)2011 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

[14] Tomomichi Sugihara, Solvability-unconcerned Inverse Kinematics by Levenberg-Marquardt Method (in Japanese), Journal of Robotics Society of Japan, Vol.29, No.3, pp.269-277, 2011.
[13] Wataru Takano, Katsu Yamane, Tomomichi Sugihara, Ko Yamamoto and Yoshihiko Nakamura, Theory of Communication between Human and Humanoid Robot based on Embodied Symbol Model (in Japanese), Journal of Robotics Society of Japan, Vol.28, No.6, pp.735-745, 2010.
[12] Tomomichi Sugihara, Simulated Regulator to Synthesize ZMP Manipulation and Foot Location for Autonomous Control of Biped Robots, In Climbing and Walking Robots, pp.201-212, Behnam Miripour (editor), INTECH, May, 2010. [Available at Sciyo]
[11] Fumi Seto and Tomomichi Sugihara, Nonlinear Reference Shaping with Endpoint Position Feedback for Large Acceleration Avoidance in Reaching Movement, Journal of Robotics and Mechatronics, Vol.22, No.2, pp.173-178, 2010.
[10] Tomomichi Sugihara, Simple and Stable Integral Compensator on Motor Control by Reference Shaping (in Japanese), Journal of Robotics Society of Japan, Vol.27, No.8, pp.910-916, 2009.
[9] Tomomichi Sugihara and Yoshihiko Nakamura, Boundary Condition Relaxation Method for Stepwise Pedipulation Planning of Biped Robots, IEEE Transaction on Robotics, Vol.25, No.3, pp.658-669, 2009. [PDF,1.1M]
(C)2009 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
[8] Tomomichi Sugihara and Yoshihiko Nakamura, Improvement of Numerical Ill-posedness of Contact Force Computation in Forward Dynamics of Multibody based on Balanced Micro/Macro-Collision Model (in Japanese), Journal of Robotics Society of Japan, Vol.26, No.7, pp.767-777, 2008.
[7] Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura, Hardware design of high performance miniature anthropomorphic robots, Robotics and Autonomous System, Vol.56, Issue 1, pp.82-94, 2007. [available at ScienceDirect]
[6] Tomomichi Sugihara and Yoshihiko Nakamura, Boundary Condition Relaxation Method for Online Motion Planning of Biped Robots (in Japanese), Journal of Robotics Society of Japan, Vol.25, No.7, pp.1082-1091, 2007.
[5] Tomomichi Sugihara and Yoshihiko Nakamura, Whole-body Cooperative Reaction Force Manipulation on Legged Robots with COG Jacobian involving Implicit Representation of Unactuated Coordinates (in Japanese), Journal of Robotics Society of Japan, Vol.24, No.2, pp.222-231, 2006.
[4] Tomomichi Sugihara and Yoshihiko Nakamura, High Mobility Control of Humanoid Robots Based on an Analogy of ZMP-COG Model and Carted Inverted Pendulum Model (in Japanese), Journal of Robotics Society of Japan, Vol.24, No.1, pp.74-83, 2006.
[3] Tomomichi Sugihara and Yoshihiko Nakamura, Dual Term Absorption of Disturbance for the Whole-body Cooperative Motion Control of Humanoid Robot (in Japanese), Journal of Robotics Society of Japan, Vol.24, No.1, pp.64-73, 2006.
[2] Satoshi Kagami, Tomonobu Kitagawa, Koichi Nishiwaki, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, A Fast Dynamically Equilibrated Walking Trajectory Generation Method of Humanoid Robot, Autonomous Robots , Vol.12, No.1, Kluwer Academic Publishers, pp.71-82., Jan., 2002.
[1] Satoshi Kagami, Koichi Nishiwaki, James J. Kuffner, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, Design, Implementation and Remote Operation of the Humanoid H6, In Experimental Robotics VII, Lecture Notes in Control and Information Sciences 271, pp.41-50, Daniela Rus and Sanjiv Singh (editors), Springer-Verlag, Sep., 2001.

Reviewed International Conference Proceedings

[53] Hiroshi Atsuta, Haruki Nozaki and Tomomichi Sugihara, Smooth-Path-Tracking Control of a Biped Robot at Variable Speed Based on Dynamics Morphing, 2017 IEEE International Conference on Robotics and Automation, pp.4116-4121, Singapore, May 31th, 2017.
[52] Naoki Wakisaka, Ryo Kikuuwe and Tomomichi Sugihara, Fast Forward Dynamics Simulation of Robot Manipulators with Highly Frictional Gears, 2016 IEEE International Conference on Robotics and Automation, pp.2096-2101, Stockholm, May 18th, 2016.
[51] Nobuyuki Murai and Tomomichi Sugihara, Identification of a Human Standing Controller From Motion Loci, The 1st International Symposium on Embodied-Brain Systems Science, P20, Tokyo, May 8th, 2016.
[50] Ken Masuya and Tomomichi Sugihara, COM Motion Estimation of a Humanoid Robot Based on a Fusion of Dynamics and Kinematics Information, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3975-3980, Hamburg, Sep 30th, 2015.
[49] Shogo Ishikawa, Masaki Nishio and Tomomichi Sugihara, Low-cost Backdrivable Motor Control Based on Feed-forward/Feed-back Friction Compensation, 2015 IEEE International Conference on Robotics and Automation, pp.5026-5031, Seattle, May 29th, 2015.
[48] Hiroshi Atsuta and Tomomichi Sugihara, Dynamics Morphing between Standing and Repetitive Hopping of Biped Robots, 2015 IEEE International Conference on Robotics and Automation, pp.5704-5709, Seattle, May 29th, 2015.
[47] Ken Masuya and Tomomichi Sugihara, Dead Reckoning of a Biped Robot on Various Terrain by Kalman Filter Adaptive to Ground Reaction Force, 2014 IEEE-RAS International Conference on Humanoid Robots, pp.1075-1080, Madrid, Nov. 20th, 2014.
[46] Ken'ya Tanaka and Tomomichi Sugihara, Dynamically Consistent Motion Design of a Humanoid Robot Even at the Limit of Kinematics, 2014 IEEE-RAS International Conference on Humanoid Robots, pp.1007-1012, Madrid, Nov. 20th, 2014.
[45] Naoki Wakisaka and Tomomichi Sugihara, Fast and Reasonable Contact Force Computation in Forward Dynamics Based on Momentum-Level Penetration Compensation, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2434-2439, Chicago, Sep. 16th, 2014.
[44] Hiroshi Atsuta and Tomomichi Sugihara, Sideward Locomotion Control of Biped Robots Based on Dynamics Morphing, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.959-964, Chicago, Sep. 15th, 2014.
[43] Tomomichi Sugihara, Robust Solution of Prioritized Inverse Kinematics Based on Hestenes-Powell Multiplier Method, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.510-515, Chicago, Sep. 15th, 2014.
[42] Ken Masuya and Tomomichi Sugihara, Dead Reckoning of Biped Robots with Estimated Contact Points Based on the Minimum Velocity Criterion, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3637-3642, Tokyo, Nov. 6th, 2013.
[41] Daishi Kaneta, Nobuyuki Murai and Tomomichi Sugihara, Reassessment of COM-ZMP Model for the Identification of Lateral Standing Controller of a Human, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2351-2356, Tokyo, Nov. 5th, 2013.
[40] Nobuyuki Murai, Daishi Kaneta and Tomomichi Sugihara, Identification of a Piecewise Controller of Lateral Human Standing Based on Returning Recursive-Least-Square Method, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.96-101, Tokyo, Nov. 4th, 2013.
[39] Ken Masuya and Tomomichi Sugihara, A Dual-stage Complementary Filter for Dead Reckoning of a Biped Robot via Estimated Contact Point, 2013 IEEE-RAS International Conference on Humanoid Robots, pp.112-117, Atlanta, Oct. 16th, 2013.

[38] Tomomichi Sugihara, Reflexive Step-out Control Superposed on Standing Stabilization of Biped Robots, 2012 IEEE-RAS International Conference on Humanoid Robots, pp.741-746, Osaka, Dec. 1st, 2012. [PDF,928kB]
[37] Yasushi Shimizu and Tomomichi Sugihara, Efficient Path Planning of Humanoid Robots with Automatic Conformation of Body Representation to the Complexity of Environments, 2012 IEEE-RAS International Conference on Humanoid Robots, pp.755-760, Osaka, Dec. 1st, 2012.
[36] Daishi Kaneta, Nobuyuki Murai and Tomomichi Sugihara, Visualization and Identification of Macroscopic Dynamics of a Human Motor Control Based on the Motion Measurement, 2012 IEEE-RAS International Conference on Humanoid Robots, pp.767-772, Osaka, Dec. 1st, 2012.
[35] Tomomichi Sugihara, Biped Control To Follow Arbitrary Referential Longitudinal Velocity based on Dynamics Morphing, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1892-1897, Vilamoura, Oct. 9th, 2012. [PDF,594KB]
[34] Ken Masuya, Tomomichi Sugihara and Motoji Yamamoto, Design of Complementary Filter for High-fidelity Attitude Estimation based on Sensor Dynamics Compensation with Decoupled Properties, 2012 IEEE International Conference on Robotics and Automation, pp.606-611, St. Paul, May 15th, 2012.
[33] Toshiya Nishi and Tomomichi Sugihara, Thinning and Smoothing of Randomly-sampled Support Transitions Toward Practical Motion Planning for Humanoid Robots, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1702-1707, Taipei, Oct, 19th, 2010. [PDF,1.3MB]
[32] Fumi Seto and Tomomichi Sugihara, Motion Control with Slow and Rapid Adaptation for Smooth Reaching Movement Under External Force Disturbance, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1650-1655, Taipei, Oct, 19th, 2010.
[31] Tomomichi Sugihara, Consistent Biped Step Control with COM-ZMP Oscillation Based on Successive Phase Estimation in Dynamics Morphing, 2010 IEEE International Conference on Robotics and Automation, pp.4224-4229, Anchorage, May, 6th, 2010. [PDF,556kB]
[30] Tomomichi Sugihara, Solvability-unconcerned Inverse Kinematics based on Levenberg-Marquardt Method, 2009 IEEE-RAS International Conference on Humanoid Robots, pp.555-560, Paris, Dec, 9th, 2009. [PDF,337kB]
[29] Fumi Seto and Tomomichi Sugihara, Online Nonlinear Reference Shaping with End-point Position Feedback for Human-Like Smooth Reaching Motion, 2009 IEEE-RAS International Conference on Humanoid Robots, pp.297-302, Paris, Dec, 8th, 2009.
[28] Tomomichi Sugihara, Dynamics Morphing from Regulator to Oscillator on Bipedal Control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2940-2945, St.Louis, Oct, 13th, 2009. [PDF,657kB]
[27] Hidehito Kobayashi and Tomomichi Sugihara, Self-consistent Automatic Navigation of COM and Feet for Realtime Humanoid Robot Steering, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3525-3530, St.Louis, Oct, 13th, 2009.
[26] Fumi Seto and Tomomichi Sugihara, Online Reference Shaping with End-point Position Feedback for Large Acceleration Avoidance on Manipulator Control, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5743-5748, St.Louis, Oct, 14th, 2009.
[25] Tomomichi Sugihara, Standing Stabilizability and Stepping Maneuver in Planar Bipedalism based on the Best COM-ZMP Regulator, 2009 IEEE International Conference on Robotics and Automation, pp.1966-1971, Kobe, May, 15th, 2009. [PDF,835kB]
[24] Tomomichi Sugihara and Hidehito Kobayashi, A Handy Humanoid Robot Navigation by Non-interruptive Switching of Guided Point and Synergetic Points, 2008 IEEE-RAS International Conference on Humanoid Robots, pp.640-645, Daejeon, Dec., 3rd, 2008. [PDF,732kB]
[23] Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, Gait Planning including Toe Contact with Boundary Condition Relaxation, The 17th CISM-IFToMM Symposium (RoManSy17), pp.409-416, Waseda, Jul., 7th, 2008.
[22] Tomomichi Sugihara, Simulated Regulator to Synthesize ZMP Manipulation and Foot Location for Autonomous Control of Biped Robots, 2008 IEEE International Conference on Robotics and Automation, pp.1264-1269, Pasadena, May, 21st, 2008. [PDF,465kB]
[21] Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, Toe Joint Mechanism Using Parallel Four-bar Linkage Enabling Humanlike Multiple Support at Toe Pad and Toe Tip, 2007 IEEE-RAS International Conference on Humanoid Robots, pp.-, Pittsburgh, Nov., 30th, 2007.
[20] Tomomichi Sugihara and Yoshihiko Nakamura, Enhancement of Boundary Condition Relaxation Method for 3D Hopping Motion Planning of Biped Robots, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.444-449, San Diego, Oct., 30th, 2007. [PDF,544kB]
[19] Tomomichi Sugihara and Yoshihiko Nakamura, Gravity Compensation on Humanoid Robot Control with Robust Joint Servo and Non-integrated Rate-gyroscope, 2006 IEEE-RAS International Conference on Humanoid Robots, pp.194-199, Genova, Dec., 6th, 2006. [PDF,560kB]
[18] Tomomichi Sugihara and Yoshihiko Nakamura, Balanced Micro/Macro Contact Model for Forward Dynamics of Rigid Multibody, 2006 IEEE International Conference on Robotics and Automation, pp.1880-1885, Orlando, May, 17th, 2006. [PDF,445kB]
[17] Wataru Takano, Katsu Yamane, Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura, Primitive Communication based on Motion Recognition and Generation with Hierarchical Mimesis Model, 2006 IEEE International Conference on Robotics and Automation, pp.3602-3609, Orlando, May, 18th, 2006.
[16] Tomomichi Sugihara, Wataru Takano, Katsu Yamane, Kou Yamamoto and Yoshihiko Nakamura, Online Dynamical Retouch of Motion Patterns Towards Animatronic Humanoid Robots, 2005 IEEE-RAS International Conference on Humanoid Robots, pp. - , Tsukuba, Dec., 6th, 2005. [PDF,1.2MB]
[15] Tomomichi Sugihara, Kou Yamamoto, Wataru Takano, Katsu Yamane and Yoshihiko Nakamura, Animatronic Humanoid Robot System That Responsively Interacts with Humans, 36th International Symposium on Robotics, pp. - , Tokyo, Dec., 1st, 2005. [PDF,793KB]
[14] Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura, Architectural Design of Miniature Anthropomorphic Robots Towards High-Mobility, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1083-1088, Edmonton, Aug., 3rd, 2005. [PDF,2.1MB]
[13] Tomomichi Sugihara and Yoshihiko Nakamura, A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots, 2005 IEEE International Conference on Robotics and Automation, pp.306-311, Barcelona, Apr., 19th, 2005. [PDF,739KB]
[12] Tomomichi Sugihara, Katsu Yamane, Masafumi Okada and Yoshihiko Nakamura, Elements of Humanoid Robot Technology, The 1st IEEE Technical Exhibition Based Conference on Robotics and Automation, Tokyo, Nov., 18th-19th, 2004. [PDF,512KB]
[11] Tomomichi Sugihara and Yoshihiko Nakamura, Variable Impedant Inverted Pendulum Model Control for a Seamless Contact Phase Transition on Humanoid Robot, 2003 IEEE International Conference on Humanoid Robots, Kurlsruhe, Oct., 2nd, 2003. [PDF,430KB]
[10] Tomomichi Sugihara and Yoshihiko Nakamura, Contact Phase Invariant Control for Humanoid Robot based on Variable Impedant Inverted Pendulum Model, 2003 IEEE International Conference on Robotics and Automation, pp.51-56, Taipei, Sep., 16th, 2003. [PDF,298KB]
[9] Tomomichi Sugihara and Yoshihiko Nakamura, Whole-body Cooperative COG Control through ZMP Manipulation for Humanoid Robots, 2nd International Symposium on Adaptive Motion of Animals and Machines, SaP-III-4, Kyoto, Mar., 8th, 2003. [PDF,448KB]
[8] Tomomichi Sugihara and Yoshihiko Nakamura, Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.2575-2580, Lausanne, Oct., 3rd, 2002. [PDF,493KB]
[7] Tomomichi Sugihara, Yoshihiko Nakamura and Hirochika Inoue, Realtime Humanoid Motion Generation through ZMP Manipulation based on Inverted Pendulum Control, 2002 IEEE International Conference on Robotics and Automation, pp.1404-1409, Washington DC, May, 14th, 2002. [PDF,200KB]
[6] Satoshi Kagami, James J.Kuffner, Koichi Nishiwaki, Tomomichi Sugihara, Takashi Michikata, Takuma Aoyama, Masayuki Inaba and Hirochika Inoue, Design and Implementation of Remotely Operation Interface for Humanoid Robot, 2001 IEEE International Conference on Robotics and Automation, pp.401-406, Seoul, May, 23rd, 2001.
[5] Satoshi Kagami, Koichi Nishiwaki, Tomomichi Sugihara, James J.Kuffner, Masayuki Inaba and Hirochika Inoue, Design and Implementation of Software Research Platform for Humanoid Robotics : H6, 2001 IEEE International Conference on Robotics and Automation, pp.2431-2436, Seoul, May, 24th, 2001.
[4] Koichi Nishiwaki, Tomomichi Sugihara, Satoshi Kagami, Masayuki Inaba and Hirochika Inoue, Online Mixture and Connection of Basic Motions for Humanoid Walking Control by Footprint Specification, 2001 IEEE International Conference on Robotics and Automation, pp.4110-4115, Seoul, May, 25th, 2001.
[3] Satoshi Kagami, Koichi Nishiwaki, James J.Kuffner.Jr., Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, Design, Implementation, and Remote Operation of the Humanoid H6, 7th International Symposium on Experimental Robotics, Honolulu, Dec., 11th, 2000.
[2] Satoshi Kagami, Koichi Nishiwaki, Tomonobu Kitagawa, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, A Fast Generation Method of a Dynamically Stable Humanoid Robot Trajectory with Enhanced ZMP Constraint, 2000 IEEE International Conference on Humanoid Robots, Cambridge, Sep., 8th, 2000.
[1] Koichi Nishiwaki, Tomomichi Sugihara, Satoshi Kagami, Fumio Kanehiro, Masayuki Inaba and Hirochika Inoue, Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot : H6, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1559-1564, Kagawa, Nov., 3rd, 2000.

Reviewed Domestic Conference Proceedings

[22] Hiroshi Atsuta, Haruki Nozaki and Tomomichi Sugihara, 2D Omnidirectional Locomotion Control of Biped Robots Based on Dynamics Morphing, 22nd Robotics Symposia, Isobe Onsen, 5C2, pp.275-280, 2017. 3.16.
[21] Takanobu Yamamoto and Tomomichi Sugihara, Semi-autonomous Navigation of a Biped Robot Over Unlevel Terrain Based on the Combination of Discreate-Continuous Control, 22nd Robotics Symposia, Isobe Onsen, 3B2, pp.177-182, 2017. 3.16.
[20] Naoki Wakisaka and Tomomichi Sugihara, Six Axis Contact Force Computation Based on Contact Volume Using Friction Constraint, 21st Robotics Symposia, Yasuragi Ioujima, 5B1, pp.344-349, 2016. 3.18.
[19] Naoki Wakisaka, Ryo Kikuuwe and Tomomichi Sugihara, Stable Motor and Rigid Bodies Dynamics Simulation Based on Semi-Implicit Computation, 20th Robotics Symposia, Karuizawa Prince Hotel West, 3B3, pp.264-269, 2015. 3.16.
[18] Ken Masuya and Tomomichi Sugihara, 3D-COM Motion Estimation for a Humanoid Robot based on Equilibrium of Reaction Torque, 20th Robotics Symposia, Karuizawa Prince Hotel West, 2C3, pp.190-195, 2015. 3.15.
[17] Ken'ya Tanaka and Tomomichi Sugihara, Dynamically Consistent Motion Design of Humanoid Robots even at the Limit of Kinematics, 19th Robotics Symposia, Arima Grand Hotel, 5D1, pp.485-490, 2014. 3.16.
[16] Naoki Wakisaka and Tomomichi Sugihara, On the Stable Dynamics Simulation of Rigid Multibodies via Collision Time Estimation, 19th Robotics Symposia, Arima Grand Hotel, 3A3, pp.221-226, 2014. 3.15.
[15] Tomomichi Sugihara, Robust Solution of Prioritized Inverse Kinematics Based On Multiplier Method, 19th Robotics Symposia, Arima Grand Hotel, 3A2, pp.215-220, 2014. 3.15.
[14] Shogo Ishikawa, Masaki Nishio and Tomomichi Sugihara, Low-cost Motor Control with Backdrivable Concern Based on the Combination of Feedforward Friction Compensation and Torque Measurement, 19th Robotics Symposia, Arima Grand Hotel, 2C3, pp.171-176, 2014. 3.15.
[13] Hiroshi Atsuta and Tomomichi Sugihara, Sideway Locomotion Control of Biped Robots Based on Dynamics Morphing, 19th Robotics Symposia, Arima Grand Hotel, 1B4, pp.49-54, 2014. 3.15.
[12] Ken Masuya and Tomomichi Sugihara, Dead Reckoning for Biped Robots using Estimated Contact Points based on Reaction Force and an Accelerometer (in Japanese), 18th Robotics Symposia, Kaminoyama Onsen, 3B3, pp.296-301, Mar., 15th, 2013.
[11] Ken Masuya, Tomomichi Sugihara, Motoji Yamamoto, A Comparative Discussion of Accuracy of Complementary Filter and Kalman Filter for the Attitude Estimation (in Japanese), 17th Robotics Symposia, pp.116-121, Hagi Honjin, Mar., 14th, 2012.
[10] Toshiya Nishi, Tomomichi Sugihara, Motion Planning for Humanoid Robots by Thinning and Smoothing of Random Trees (in Japanese), 15th Robotics Symposia, pp.397-402, Yoshinoyama, Mar., 16th, 2010.

[9] Tomomichi Sugihara, Standing Stabilizability and Stepping Maneuver of Bipedalism based on the Best COM-ZMP Regulator (in Japanese), 14th Robotics Symposia, pp.435-440, Noboribetsu, Mar., 17th, 2009.
[8] Fumi Seto and Tomomichi Sugihara, Online Reference Shaping for Large Acceleration Avoidance on Manipulator Control (in Japanese), 14th Robotics Symposia, pp.29-34, Noboribetsu, Mar., 16th, 2009.
[7] Tomomichi Sugihara and Yoshihiko Nakamura, Enhancement of Boundary Condition Relaxation Method for 3D Hopping Motion Planning of Biped Robots (in Japanese), 12th Robotics Symposia, pp.190-195, Nagaoka, Mar., 15th, 2007.
[6] Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, Toe Joint Mechanism Using Closed Link That Enables Bracing Control by Supporting with Toe Tips and Toe Pad (in Japanese), 12th Robotics Symposia, pp.28-33, Nagaoka, Mar., 15th, 2007.
[5] Tomomichi Sugihara and Yoshihiko Nakamura, Online Gait Planning with Boundary Relaxation of Biped Robot (in Japanese), 10th Robotics Symposia, pp.153-158, Hakone, Mar., 14th, 2005.
[4] Tomomichi Sugihara and Yoshihiko Nakamura, Computation of Contact Force for Multibody System based on Multipoint Rigid Contact Model (in Japanese), 8th Robotics Symposia, pp.349-354, Hamamatsu, Mar., 18th, 2003.
[3] Koichi Nishiwaki, Yoshifumi Murakami, Tomomichi Sugihara, Satoshi Kagami, Masayuki Inaba and Hirochika Inoue, Extention of Walking and Whole-body Action Capability with Toe Joints (in Japanese), 6th Robotics Symposia, Izu, Mar., 18th, 2001.
[2] Satoshi Kagami, James Kuffner Jr., Koichi Nishiwaki, Tomomichi Sugihara, Takashi Michikata, Takuma Aoyama, Masayuki Inaba and Hirochika Inoue, A Network Control Interface for the Humanoid Type Robot (in Japanese), 6th Robotics Symposia, Izu, Mar., 18th, 2001.
[1] Koichi Nishiwaki, Tomomichi Sugihara, Satoshi Kagami, Fumio Kanehiro, Masayuki Inaba and Hirochika Inoue, Design and Development of Research Platform for Perception-Action Integration in Humanoid Robot : H6 (in Japanese), 5th Robotics Symposia, Kobe, Mar., 26th, 2000.

Oral Presentations (all in domestic conferences)

[97] Fumio Kanehiro, Shin'ichiro Nakaoka, Tomomichi Sugihara, Naoki Wakisaka, Takeharu Suzuki, Genya Ishigami and Shingo Ozaki, ImPACT-TRC Simulator Research Group -Simulation of natural phenomena, road surface deformation and excavation-, 2017 JSME Conference on Robotics and Mechatronics, Fukushima, 2A1-Q12, 2017. 5.12.
[96] Naoki Wakisaka and Tomomichi Sugihara, Verification Method for Robot Control System with RoKi FD Engine, 2017 JSME Conference on Robotics and Mechatronics, Fukushima, 2A1-Q10, 2017. 5.12.
[95] Hidenori Tani and Tomomichi Sugihara, Kinematics identification of CMC joint of a human thumb toward mechanical design of an anthropomorphic robot hand, 2017 JSME Conference on Robotics and Mechatronics, Fukushima, 2P1-D10, 2017. 5.12.
[94] Hiroshi Atsuta and Tomomichi Sugihara, Automatic Biped Motion Transition Based on Adjancency Relations of Dynamics Morphing Controllers, The 17th SICE System Integration Division Annual Conference, 1C3-4, Sapporo Convention Center, 2016.12.15.
[93] Takanobu Yamamoto and Tomomichi Sugihara, Robust Navigation System of a Biped Robot On the Combination of Responsive Discrete-Continuous Control, The 17th SICE System Integration Division Annual Conference, 1C3-3, Sapporo Convention Center, 2016.12.15.
[92] Tomomichi Sugihara, Daishi Kaneta and Nobuyuki Murai, Identification of Human Controller From Motion Observation, The Society of Instrument and Control Engineers Life Engineering Symposium 2016, 1A3-1, Osaka International House, 2016.11. 3.
[91] Robson Kenji Sato, Tomomichi Sugihara, Responsive Biped Control Based on COM-ZMP that is Available Even at the Limit of Kinematics, The 34th Annual Conference of The Robotics Society of Japan, 3X3-04, Koshirakawa Campus of Yamagata University, 2016. 9. 9.
[90] Fumio Kanehiro, Tomomichi Sugihara, Shin'ichiro Nakaoka, Naoki Wakisaka and Ryo Kikuuwe, ImPACT-TRC Simulator Working group --- Cost reduction and Efficiency Promotion of Robot Developments with the Help of Simulations ---, The 34th Annual Conference of The Robotics Society of Japan, 3C2-07, Koshirakawa Campus of Yamagata University, 2016. 9. 9.
[89] Ken'ya Tanaka and Tomomichi Sugihara, Interactive Motion Design of an Anthropomorphic Robot represented by NURBS II: Fast Motion Design incorporated with 3-dimensional Contact with the Environment, The 34th Annual Conference of The Robotics Society of Japan, 3Y1-08, Koshirakawa Campus of Yamagata University, 2016. 9. 9.
[88] Ken'ya Tanaka and Tomomichi Sugihara, Interactive Motion Design of an Anthropomorphic Robot represented by NURBS I: Fast Motion Retouch to Satisfy ZMP Constraint based on Mathematical Structure of NURBS, The 34th Annual Conference of The Robotics Society of Japan, 3Y1-07, Koshirakawa Campus of Yamagata University, 2016. 9. 9.
[87] Minami Yamamoto and Tomomichi Sugihara, An Efficient Simultaneous Exploration and Navigation in An Unknown Environment of a Mobile Robot by Dynamic Update of Extremum-Free Potential Method, The 34th Annual Conference of The Robotics Society of Japan, 1C1-05, Koshirakawa Campus of Yamagata University, 2016. 9. 7.
[86] Kouki Shimoguchi and Tomomichi Sugihara, Reduction of Backlash of the 3-UU Parallel Mechanism, 2016 JSME Conference on Robotics and Mechatronics, Yokohama, 2P2-13b2, 2016. 6.10.

[85] Tomomichi Sugihara, Foot-guided Control of a Biped Robot That Guarantees Standing Stability at Landing, 2016 JSME Conference on Robotics and Mechatronics, Yokohama, 2A1-12b5, 2016. 6.10.
[84] Haruki Nozaki and Tomomichi Sugihara, Switching technique of COM-navigation / foot-navigation controls for a biped robot that goes over various terrains, 2016 JSME Conference on Robotics and Mechatronics, Yokohama, 2A1-12b4, 2016. 6.10.
[83] Naoki Wakisaka and Tomomichi Sugihara, Rigid Contact Force Computation based on Contact Volume with Pyramidal Approximation of Frictional Constraint, 2016 JSME Conference on Robotics and Mechatronics, Yokohama, 1P1-10a4, 2016. 6. 9.
[82] Tatsuhiko Kato, Shogo Ishikawa and Tomomichi Sugihara, Reduction of other-axis interference in torque sensing unit by a bearing, 2016 JSME Conference on Robotics and Mechatronics, Yokohama, 1A2-20a2, 2016. 6. 9.
[81] Nobuyuki Murai and Tomomichi Sugihara, Identification of Dynamical System formed by COM Control of a Human in Stance, ISME Symposium: Sport Engineering and Human Dynamics 2015, Ritsumeikan University, Biwako-Kusatsu Campus, B-28, 2015.10.31.
[80] Yasuhiro Ishiguro, Kiyoshi Irie, Yasuyoshi Yokokohji, Tomomichi Sugihara and Yoshihiko Nakamura, Design of a Remote Vehicle-Steering System Under Far-Degraded Communication Condition, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 3I3-01, 2015. 9. 5.
[79] Naoki Wakisaka and Tomomichi Sugihara, Contact Force Computation Based on Velocity Constraint of Volumetric Collision State, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 3L2-02, 2015. 9. 5.
[78] Hiroshi Atsuta, Haruki Nozaki and Tomomichi Sugihara, Longitudinal-Lateral-Curvilinear Walking Control of a Biped Robot Designed with respect to Moving Frame, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 2I2-05, 2015. 9. 4.
[77] Soichi Tsuchikabe and Tomomichi Sugihara, Biped Robot Control That is Robust Against Contact-State Transition Based on COM-ZMP Model, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 2I2-06, 2015. 9. 4.
[76] Ken Masuya and Tomomichi Sugihara, Nonlinear Complementary Filter with Dynamics Compensation of MARG Sensor for 3D Attitude Estimation, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 1K2-05, 2015. 9. 3.

[75] Tomomichi Sugihara, Robust Path-Tracking Control Based on Virtual Leader-Follower Model, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 1D1-08, 2015. 9. 3. [PDF,2.7MB]
[74] Tomomichi Sugihara, Robust Reaching Control with Retiming from Motion State, The 33rd Annual Conference of The Robotics Society of Japan, Senju Campus of Tokyo Denki University, 1D1-07, 2015. 9. 3. [PDF,292kB]
[73] Naoki Higashida, Ken Masuya and Tomomichi Sugihara, An Anthropomorphic Lower Leg Mechanism with Variable Transmission by Engaged Knee-Ankle Joints, 2015 JSME Conference on Robotics and Mechatronics, Kyoto, 2A2-P08, 2015. 5.19.
[72] Masaki Nishio, Shogo Ishikawa and Tomomichi Sugihara, Low-cost Torque Sensor for Compensation of Gear Friction by Using Optical Sensor, 2015 JSME Conference on Robotics and Mechatronics, Kyoto, 2A1-B08, 2015. 5.19.
[71] Takayoshi Teramoto and Tomomichi Sugihara, 5-DOF Anthropomorphic Shoulder Mechanism Compromising Support Stiffness and Workspace, 2015 JSME Conference on Robotics and Mechatronics, Kyoto, 1P2-C03, 2015. 5.18.
[70] Ken Masuya and Tomomichi Sugihara, COM Motion Estimation of a Humanoid Robot Unifying Kinematics, Reaction Forces and ZMP, The 32nd Annual Conference of The Robotics Society of Japan, Kyushu Sangyo University, 2B1-01, 2014. 9. 5.
[69] Haruki Nozaki and Tomomichi Sugihara, Biped Robot Walking Control to Follow a Curved Orbit Only Using Local Motion Information, The 32nd Annual Conference of The Robotics Society of Japan, Kyushu Sangyo University, 1B3-03, 2014. 9. 4.
[68] Ken'ya Tanaka and Tomomichi Sugihara, Motion Design of a Humanoid Robot by Keyframe Interpolation Scheme with NURBS Under Dynamics Constraint, The 32nd Annual Conference of The Robotics Society of Japan, Kyushu Sangyo University, 1B3-02, 2014. 9. 4.
[67] Hiroshi Atsuta and Tomomichi Sugihara, Sideward Walking Control of a Biped Robot That Copes With Perturbations and Sudden Change of Motion Command, The 32nd Annual Conference of The Robotics Society of Japan, Kyushu Sangyo University, 1B3-01, 2014. 9. 4.
[66] Tomomichi Sugihara, Reconstruction of time information from motion state in a humanoid robot control, The 8th Annual Meeting of The Japanese Society for Motor Control, Tsukuba University, 2014. 8. 9.
[65] Kengo Shikata, Ken Masuya and Tomomichi Sugihara, Zero-DOF 3-UU parallel mechanism that inclines largely in two directions, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 3P2-K02, 2014. 5. 28.
[64] Hiroshi Atsuta and Tomomichi Sugihara, Dynamics Morphing for Transition of Standing and Continuous Hopping on Biped Control, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 3P1-F07, 2014. 5. 28.
[63] Yasuhiro Ishiguro and Tomomichi Sugihara, Dynamic 3-dimensional Locomotion of a Humanoid Robot with Hand-foot Support Coordination, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 3P1-E06, 2014. 5. 28.
[62] Haruki Nozaki and Tomomichi Sugihara, Arbitrary Speed Walk Control of A Biped Robot Along a Smooth Curved Path, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 3P1-D07, 2014. 5. 28.
[61] Ken Masuya and Tomomichi Sugihara, Dead Reckoning for Biped Robots based on Kalman filter with Observation Error Model Varied with Foot Contact Condition, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 3A1-D06, 2014. 5. 28.
[60] Masaki Nishio and Tomomichi Sugihara, Inexpensive Joint Torque Measurement by Dynamics Compensation of a Photo-interrupter, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 1P2-J04, 2014. 5. 28.
[59] Masaru Yamasaki and Tomomichi Sugihara, Effect of Plastic Deformation on Foot Mechanism That Enables Impact Absorption and Stable Support, 2014 JSME Conference on Robotics and Mechatronics, Toyama City Gymnasium, 1A1-R01, 2014. 5. 28.
[58] Naoki Wakisaka and Tomomichi Sugihara, Fast and Stable Forward Dynamics of Rigid Multibodies via Relaxation of Contact Constraint and Velocity-based Penetration Compensation, 31th Annual Conference of Robotics Society of Japan, Tokyo Metropolitan University, 2G2-04, 2013. 9. 5.
[57] Nobuyuki Murai, Daishi Kaneta and Tomomichi Sugihara, Identification of a Human Motor Controller as a Piecewise Dynamical System, 31th Annual Conference of Robotics Society of Japan, Tokyo Metropolitan University, 2F2-06, 2013. 9. 5.
[56] Daishi Kaneta, Nobuyuki Murai and Tomomichi Sugihara, Reassessment of a Standing Controller Model of a Human Based on COM-ZMP Approximation, 31th Annual Conference of Robotics Society of Japan, Tokyo Metropolitan University, 2F2-02, 2013. 9. 5.
[55] Ken Masuya and Tomomichi Sugihara, Dead Reckoning of a Biped Robot Based on Dual-stage Complementary Filter with Velocity Feedback, 31th Annual Conference of Robotics Society of Japan, Tokyo Metropolitan University, 1K3-05, 2013. 9. 4.
[54] Yasunori Matsumoto and Tomomichi Sugihara, Auto-resolution of Collisions in Interactive Motion Design of a Humanoid Robot, 31th Annual Conference of Robotics Society of Japan, Tokyo Metropolitan University, 1C3-05, 2013. 9. 4.
[53] Yasushi Shimizu and Tomomichi Sugihara, Long-distance Path Planning for a Humanoid Robot in Large Scale Environment by Adaptive Complexity Method, 31th Annual Conference of Robotics Society of Japan, Tokyo Metropolitan University, 1C1-08, 2013. 9. 4.
[52] Ken Masuya and Tomomichi Sugihara, Dead Reckoning of a Biped Robot based on the Estimation of the Contact Points, 2013 JSME Conference on Robotics and Mechatronics, International Congress Center Epochal Tsukuba, 2P1-A09, 2013. 5. 24.
[51] Yasunori Matsumoto and Tomomichi Sugihara, Auto-resolution of Collisions for Interactive Posture Edit of a Humanoid Robot, 2013 JSME Conference on Robotics and Mechatronics, International Congress Center Epochal Tsukuba, 2P1-A11, 2013. 5. 24.
[50] Masaru Yamasaki and Tomomichi Sugihara, Foot Mechanism for a Humanoid Robot That Enables Impact Absorption and Steady Support, 2013 JSME Conference on Robotics and Mechatronics, International Congress Center Epochal Tsukuba, 1A2-P06, 2013. 5. 23.
[49] Yasushi Shimizu and Tomomichi Sugihara, Local Collision Resolution in Two-Phase Path Planning for Humanoid Robots, 30th Memorial Conference of Robotics Society of Japan, Sapporo Convention Center, 4K3-8, 2012. 9.20.

[48] Daishi Kaneta, Nobuyuki Murai and Tomomichi Sugihara, Identification of Macroscopic Structure of Standing Controller of a Human Based on The Whole-body Motion Measurement, 30th Memorial Conference of Robotics Society of Japan, Sapporo Convention Center, 3L2-6, 2012. 9.19.
[47] Ken Masuya and Tomomichi Sugihara, Odometry for Biped Robots Using Instantaneous Minimum-Velocity Point, 30th Memorial Conference of Robotics Society of Japan, Sapporo Convention Center, 3I1-8, 2012. 9.19.
[46] Yasushi Shimizu and Tomomichi Sugihara, Automatic Conformation of Body Representation Based on the Complexity of Environments Toward Efficient Motion Planning of Humanoid Robots, 2012 JSME Conference on Robotics and Mechatronics, Act City Hamamatsu, 1A2-N03, 2012. 5. 28.
[45] Yasunori Matsumoto, Tomomichi Sugihara, Auto-binding of Constraint Conditions for Interactive Motion Design of Humanoid Robots, 2012 JSME Conference on Robotics and Mechatronics, Act City Hamamatsu, 1A2-O04, 2012. 5. 28.
[44] Daishi Kaneta and Tomomichi Sugihara, Visualization of Macroscopic Structure of a Human Motion Control based on the Whole-body Motion Measurement, 2012 JSME Conference on Robotics and Mechatronics, Act City Hamamatsu, 2P1-B10, 2012. 5. 29.
[43] Ken Masuya, Tomomichi Sugihara, Motoji Yamamoto, High-fidelity 3D Attitude Estimation based on Complementary Use of Inertial Sensors and Magnetometer with Dynamics Compensation, 29th Annual Conference of Robotics Society of Japan, Shibaura Institute of Technology, 2L1-6, 2011. 9. 8.
[42] Tomomichi Sugihara, Dynamics Morphing Toward Arbitrary Longitudinal Velocity Control for Biped Robots, 29th Annual Conference of Robotics Society of Japan, Shibaura Institute of Technology, 1J1-1, 2011. 9. 7.
[41] Tomomichi Sugihara, Reflexive Step-out Control Superposed on Standing Stabilization of Biped Robots, 28th Annual Conference of Robotics Society of Japan, Nagoya Institute of Technology, 2D2-7, 2010. 9.23.
[40] Ken Masuya, Tomomichi Sugihara, Motoji Yamamoto, Complementary Filter for High-fidelity Attitude Estimation based on Inverse Modeling of Inertial Sensors, 28th Annual Conference of Robotics Society of Japan, Nagoya Institute of Technology, 3H2-4, 2010. 9.24.
[39] Hidehito Kobayashi, Tomomichi Sugihara, Tsutomu Hasegawa, Motion Replanning during Navigation of Humanoid Robots to cope with Emergent Change of Landing Position, 28th Annual Conference of Robotics Society of Japan, Nagoya Institute of Technology, 1A1-3, 2010. 9.22.
[38] Tomomichi Sugihara, Biped Step Control with Self-consistent Synchronization to ZMP Oscillation, 27th Annual Conference of Robotics Society of Japan, Yokohama National University, 2P1-07, Sep., 16th, 2009.
[37] Tomomichi Sugihara, Solvability-unconcerned Inverse Kinematics by Levenberg-Marquardt Method, 27th Annual Conference of Robotics Society of Japan, Yokohama National University, 2K1-03, Sep., 16th, 2009.
[36] Fumi Seto and Tomomichi Sugihara, Smooth Reaching Motion Control with Slow and Rapid Adaptation to External Force, 27th Annual Conference of Robotics Society of Japan, Yokohama National University, 2K1-02, Sep., 16th, 2009.
[35] Tomomichi Sugihara, Dynamics Morphing from Regulator to Oscillator on the Bipedal Control, JSME Annual Conference on Robotics and Mechatronics, Fukuoka, 2P1-C04, May, 26th, 2009.
[34] Fumi Seto and Tomomichi Sugihara, Nonlinear Reference Shaping with End-point Position Feedback for Smooth Reaching Motion, JSME Annual Conference on Robotics and Mechatronics, Fukuoka, 2A1-F15, May, 26th, 2009.
[33] Hidehito Kobayashi and Tomomichi Sugihara, Self-consistent Automatic Navigation of Torso and Feet for Realtime Humanoid Robot Steering, JSME Annual Conference on Robotics and Mechatronics, Fukuoka, 2A1-D19, May, 26th, 2009.
[32] Tomomichi Sugihara, Reference Shaping for Simple Robust Servo on Embedded PD Controller, 26th Annual Conference of Robotics Society of Japan, Kobe University, 3C1-05, Sep., 11th, 2008.
[31] Tomomichi Sugihara, Growing Robot Software Architecture based on Microkernel Emulation, JSME Annual Conference on Robotics and Mechatronics, Nagano, 2P1-F05, Jun., 7th, 2008.
[30] Tomomichi Sugihara, Development of Zero-Crash Mechanism, JSME Annual Conference on Robotics and Mechatronics, Nagano, 2A1-I02, Jun., 7th, 2008.
[29] Hidehito Kobayashi, Tomomichi Sugihara and Tsutomu Hasegawa, Humanoid-robot Steering System with Non-interruptive Selection of Manual/Automatic Navigation Points, JSME Annual Conference on Robotics and Mechatronics, Nagano, 2P1-F06, Jun., 7th, 2008.
[28] Tomomichi Sugihara, Synthesized COM-Pedipulation Control of Biped Robots Based on Simulated Regulator, 25th Annual Conference of Robotics Society of Japan, Chiba Institute of Technology, 1G25, Sep., 13th, 2007.
[27] Koji Terada, Tomomichi Sugihara and Yasuo Kuniyoshi, Online Gait Planning with Boundary Condition Relaxation and Dynamical 3D-Symmetrization, 25th Annual Conference of Robotics Society of Japan, Chiba Institute of Technology, 1G26, Sep., 13th, 2007.
[26] Masaya Oishi, Tomomichi Sugihara, Yoshihiko Nakamura, Stepping Motion Planning of Humanoid Robots Based on an Optimal Control of Inverted Pendulum, JSME Annual Conference on Robotics and Mechatronics'07, Akita, 1A1-C01, May, 11th, 2007.
[25] Tomomichi Sugihara and Yoshihiko Nakamura, Trunk Stabilization of Humanoids via Non-Integrated Rate-Gyroscope Feedback, 24th Annual Conference of Robotics Society of Japan, Okayama University, 3H26, Sep., 16th, 2006.
[24] Tomomichi Sugihara and Yoshihiko Nakamura, Robust Joint Servo with Cascaded Two-Degree-of-Freedom Control / PD Control, 24th Annual Conference of Robotics Society of Japan, Okayama University, 2C14, Sep., 15th, 2006.
[23] Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, Legged Motion Planning of Humanoid Robots That Change Contact States Variedly under Severe Time Constraints, 12th Japan IFToMM Conference Symposium, pp.43-46, Tokyo, Jun., 30th, 2006.
[22] Wataru Takano, Katsu Yamane, Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura, Interactive Contents between a Human and a Robot Using Primitive Communication Model Based on Symbolizing Motion Patterns, The 2nd Digital Contents Symposium, Tokyo, 4-2, Jun., 7th, 2006.
[21] Tomomichi Sugihara, Katsu Yamane, Wataru Takano, Yoshihiko Nakamura and Kou Yamamoto, Animatronic Control of a Humanoid Robot on the Combination of Mimetic Communication and Boundary Condition Relaxation Method, 23rd Annual Conference of Robotics Society of Japan, Keio University, 3F18, Sep., 17th, 2005.
[20] Tomomichi Sugihara, Kou Yamamoto and Yoshihiko Nakamura, Development of a Miniature Anthropomorphic Device Towards the Deployment of Animatronics, 23rd Annual Conference of Robotics Society of Japan, Keio University, 2F15, Sep., 16th, 2005.
[19] Kou Yamamoto, Tomomichi Sugihara and Yoshihiko Nakamura, Development of "AnimatoCore" - a portable control unit for miniature robots, 23rd Annual Conference of Robotics Society of Japan, Keio University, 1E32, Sep., 15th, 2005.
[18] Tomomichi Sugihara and Yoshihiko Nakamura, Precise ZMP Manipulation on Humanoid Robots with Acceleration Offset, 22nd Annual Conference of Robotics Society of Japan, Gifu, 3L21, Sep., 17th, 2004.
[17] Tomomichi Sugihara and Yoshihiko Nakamura, Mobility Enhancement Control of Humanoid Robot based on the Whole-body Cooperative Reaction Force Manipulation, 10th Japan IFToMM Conference Symposium, pp.25-30, Tokyo, Jun., 25th, 2004.
[16] Tomomichi Sugihara and Yoshihiko Nakamura, Development of an Anthropomorphic Device for Fundamental Experiments Towards the Acquisition of High Mobility, 21st Annual Conference of Robotics Society of Japan, Tokyo, 2A24, Sep., 21st, 2003.
[15] Tomomichi Sugihara and Yoshihiko Nakamura, Responsive Legged Motion Control for Humanoid Robot via Variable Impedant Leg Model, JSME Annual Conference on Robotics and Mechatronics, Hakodate, 2P1-1F-F1, May, 25th, 2003.
[14] Tomomichi Sugihara and Yoshihiko Nakamura, Contact Phase Invariant Controller Design for Humanoid Robot based on Inverted Pendulum Model with Variable Impedance, 20th Annual Conference of Robotics Society of Japan, Osaka, 1C21, Sep., 12th, 2002.
[13] Tomomichi Sugihara and Yoshihiko Nakamura, Development of Z-REVICHS, Unified System for Real/Virtual Robot Controlling, JSME Annual Conference on Robotics and Mechatronics, Matsue, 2P2-L07, Jun., 9th, 2002.
[12] Tomomichi Sugihara and Yoshihiko Nakamura, Whole-body Cooperative Balancing of Humanoid Robot using COG Jacobian, JSME Annual Conference on Robotics and Mechatronics, Matsue, 2P1-L10, Jun., 9th, 2002.
[11] Kazutaka Kurihara, Ichiro Suzuki, Manabu Tange, Katsu Yamane, Tomomichi Sugihara, Tetsunari Inamura, Yoshihiko Nakamura, Optical Cockpit for Humanoid Tele-Operation with Realtime Motion Capture System, JSME Annual Conference on Robotics and Mechatronics, Matsue, 2A1-L02, Jun., 9th, 2002.
[10] Tomomichi Sugihara and Hirochika Inoue, Real-Time Motion Generation of Humanoid with ZMP Actuation based on Inverted Pendulum, 19th Annual Conference of Robotics Society of Japan, Tokyo, 3A23, Sep., 20th, 2001.
[9] Tomomichi Sugihara, Koichi Nishiwaki, Masayuki Inaba and Hirochika Inoue, Development of "Z-DYNAFORM" - library for dynamics analysis of rigid multibody, 18th Annual Conference of Robotics Society of Japan, Kusatsu, pp.1139-1140, Sep., 13th, 2000.
[8] Koichi Nishiwaki, Tomonobu Kitagawa, Tomomichi Sugihara, Satoshi Kagami, Masayuki Inaba and Hirochika Inoue, Fast Generation Method of Dynamically Stable Trajectory of Humanoid Motion based on the Characteristics of ZMP, 18th Annual Conference of Robotics Society of Japan, Kusatsu, pp.721-722, Sep., 12th, 2000.
[7] Koichi Nishiwaki, Tomomichi Sugihara, Satoshi Kagami, Masayuki Inaba and Hirochika Inoue, Online Generation of Desired Walking Pattern by Dynamically Stable Mixture and Connection of Pre-designed Motions, 18th Annual Conference of Robotics Society of Japan, Kusatsu, pp.1473-1474, Sep., 13th, 2000.
[6] Satoshi Kagami, James Kuffner Jr., Koichi Nishiwaki, Tomomichi Sugihara, Takashi Michikata, Takuma Aoyama, Masayuki Inaba and Hirochika Inoue, A Network Control Interface for the Humanoid Type Robot, 18th Annual Conference of Robotics Society of Japan, Kusatsu, pp.595-596, Sep., 12th, 2000.
[5] Satoshi Kagami, Kei Okada, Koichi Nishiwaki, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, Design of RT-Linux Based Intelligent Robot System, 18th Annual Conference of Robotics Society of Japan, Kusatsu, pp.1471-1472, Sep., 13th, 2000.
[4] Koichi Nishiwaki, Tomomichi Sugihara, Satoshi Kagami, Fumio Kanehiro, Masayuki Inaba and Hirochika Inoue, Development of Humanoid Robot 'H6', JSME Annual Conference on Robotics and Mechatronics, Kumamoto, 2P2-79-110, May, 13th, 2000.
[3] Tomomichi Sugihara, Ken'ichiro Nagasaka, Masayuki Inaba and Hirochika Inoue, Generation of Referential ZMP Trajectory Based on Minimization of Joint Torque, 17th Annual Conference of Robotics Society of Japan, Hiratsuka, pp.1189-1190, Sep., 11th, 1999.
[2] Koichi Nishiwaki, Tomonobu Kitagawa, Ken'ichiro Nagasaka, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, Stepping Motion using Visual Information on Dynamic Humanoid 'H5', JSME Annual Conference on Robotics and Mechatronics, Tokyo, 2P1-78-111, pp.317-322, Jun., 13th, 1999.
[1] Ken'ichiro Nagasaka, Atsushi Konno, Koichi Nishiwaki, Tomonobu Kitagawa, Tomomichi Sugihara, Masayuki Inaba and Hirochika Inoue, Development of Dynamic Humanoid H5, 16th Annual Conference of Robotics Society of Japan, Sapporo, pp.837-838, Sep., 18th, 1998.

Book Publications

[2] Tomomichi Sugihara, Humanoid Robot Control on a Review of Patlabor - Dynamics of Humanoid Robots and Theory of Autobalance, "How to Control the Superrobots - Learning Robot Control through Superrobots" edited by Katsuya Kanaoka, Nikkan Kogyo Shinbun Ltd., 2010. 3. [Nikkan Kogyo Business Line]
[1] Tomomichi Sugihara, Doraemon - To Be Robotesque, But to Be Unrobotesque - (in Japanese), in "Robot Opera"(bk1) edtied by Hideaki Sena, Kobun-sha, Jun., 2004.

Reviews in Academic Journals

[6] Tomomichi Sugihara, Numerical Solution of Inverse Kinematics, Journal of the Robotics Society of Japan, Vol.34, No.3, pp.167-173, 2016.
[5] Tomomichi Sugihara, Scratchbuilding software libraries to support from robot motion computation to hardware control, Journal of the Robotics Society of Japan, Vol.30, No.9, pp.860-864, 2012.
[4] Shuuji Kajita and Tomomichi Sugihara, Humanoid Robots in the Future, Advanced Robotics, Vol.23, No.11, pp.1527-1531, 2009.
[3] Shuji Kajita and Tomomichi Sugihara, Humanoid Robots in the Future (in Japanese), Journal of Robotics Society of Japan, Vol.26, No.7, pp.761-762, 2008.
[2] Yoshihiko Nakamura, Tomomichi Sugihara and Kou Yamamoto, Animatronic Humanoid Robot "UT-mu2" (in Japanese), Review in Journal of Robotics Society of Japan, 2006, Vol.24, No.2, pp.190.
[1] Tomomichi Sugihara, Doraemon - To Be Robotesque, But to Be Unrobotesque - (in Japanese), Review in Journal of the Society of Instrument and Control Engineers, Jan, 2004, Vol.43, No.1, pp.21-23.

Patents

[5] Naoki Higashida, Ken Masuya and Tomomichi Sugihara, Variable transmission mechanism with coupled joints, Japanese Patent Public 2015-098610, 2015. 5.13.
[4] Tomomichi Sugihara, Shogo Ishikawa, Motor control device and motor controlling method, Japanese Patent Public 2014-163172, 2014. 8. 8.
[3] Tomomichi Sugihara, Ken Masuya, Attitude estimation machine, Japanese Patent Public 2012-198057.
[2] Tomomichi Sugihara, Shock absorption mechanism, Japanese Patent Public 2010-133495.
[1] Tomomichi Sugihara, Control of the Center of Gravity Velocity on Legged Locomotion Mechanism, Japanese Patent Public 2003-011075.

Other publications

[14] Atsuo Takanishi, Shuuji Kajita, Akihito Sano, Yasutaka Fujimoto, Sang-Ho Hyon, Koichi Nishiwaki, Fumihiko Asano and Tomomichi Sugihara, Biped robot technology now, Journal of the Robotics Society of Japan, Vol.30, No.4, pp.336-343, 2012. (Table talk, the last part)
[13] Tomomichi Sugihara, Synthetic study of motor control based on a representation of the human as a mechanical system, Special issue: Analysis of humans and its applications to robotics, Ridai Science Forum, Tokyo University of Science, Vol.330, pp.7-11, 2011.12.
[12] Tomomichi Sugihara, Doraemon which I, as a robotics researcher, cannot tell any stories (a script of my converse by a writer), Doraemon in The complete works of Fujiko. F. Fujio, Shogakukan, Vol.16, 2011.11.
[11] Up-and-coming researchers in Kyushu Area - human resources leading the next generation -, Kyushu Bureau of Economy, Trade and Industry, P.92, 2009. 9.
[10] Tomomichi Sugihara, Super Robot Control Anatomy Unsolicited, Vol.10, "Humanoid robot dynamics and theory in Autobalance - stabilization of PATLABOR" sequel(Web series article with some authors), Readings for ROBOist, robonable, Nikkan Kogyo Shimbun Ltd., 2009. 6.11.
[9] Tomomichi Sugihara, Super Robot Control Anatomy Unsolicited, Vol.9, "Humanoid robot dynamics and theory in Autobalance - stabilization of PATLABOR" prequel(Web series article with some authors), Readings for ROBOist, robonable, Nikkan Kogyo Shimbun Ltd., 2009. 6. 1.
[8] Tomomichi Sugihara, Motor control of anthropomorphic robots - 10th article of Joint program with Robotics Society of Japan; the Contemporary robotics (in Japanese), ROBOCON Magazine, Ohm-sha, No.61, Dec., 2008.
[7] Tomomichi Sugihara, Thinking back the current state of robotics from ICRA2008 (in Japanese), Science Journal KAGAKU, Iwanami-shoten, Vol.78, No.9, Sep., 2008.
[6] UT-mu 2:magnum, Collected Data on Partner Robot Technologies, N.T.S, P.72, 2005.12.
[5] Tomomichi Sugihara, Mobility Enhancement Control of Humanoid Robot based on Reaction Force Manipulation via Whole Body Motion (PDF,1M), Annual Report of Research on Mechano-Engineering, University of Tokyo, No.39, Mar., 2004.
[4] Tomomichi Sugihara, Mobility Enhancement Control of Humanoid Robot based on Reaction Force Manipulation via Whole Body Motion (PDF,3.2M), Ph.D dissertation, Graduate School of the University of Tokyo, Mar., 2004.
[3] Tomomichi Sugihara, Realtime Generation of Legged Motion on the Whole-body Humanoid Robot, Annual Report of Research on Mechano-Engineering, University of Tokyo, No.36, Mar., 2001.
[2] Tomomichi Sugihara, Realtime Generation of Legged Motion on the Whole-body Humanoid Robot, Master thesis, Faculty of Engineering, Graduate School of the University of Tokyo, Mar., 2001.
[1] Tomomichi Sugihara, Design of the Optimal Gate of a Humanoid Robot based on Joint Torque Minimization, Graduate thesis, Faculty of Engineering, the University of Tokyo, Mar., 1999.

Workshops, Off-campus Events and Seminars

[25] 10th seminar of Center for Art and Performance Science at The University of Electro-Communications, title: Perceive the Human Behavior as a Dynamical System, Dec. 10th, 2015.
[24] Nagoya University, Graduate School of Engineering, Department of Mechanical Science and Engineering, Special Lecture of Electronics-Mechanical Engineering at Nagoya University, Chigusa campus, title: Theory and Implementation of Anthropomorphic Robots and Deployment toward Understanding of Humans, Jul. 16th, 2015.
[23] Dynamics Morphing to Combine Stand-still and Maneuvering Control on a Humanoid Robot, Workshop on Dynamic Locomotion and Balancing of Humanoids: State of the Art and Challenges, a full-day workshop at 2015 IEEE International Conference on Robotics and Automation, Washington State Convention Center, Seattle, WS, USA, May 26th, 2015.
[22] A business matching fair for university patents and SMEs at Osaka Dawn Center, Business Enterprise of seeds technologies from universities in Kinki 7 prifectures, Back-drivable motor control for human-assistive robots, Nov. 26, 2014.
[21] 1st Symposium of 2014 Informatics on Embodiment at Tsukuba University, title:Approach from motion computation and control theory of humanoid robots to motor control mechanism of a human, 2014. 8. 7.
[20] The Full Day Tutorial on Robotics-based Methods for the Identification, Recognition, and Synthesis of Human Motions, in conjunction with the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, Tokyo, title: Identification of Human Standing Controller based on Robot Controller (with Daishi Kaneta and Nobuyuki Murai), 2013.11. 3.
[19] 75th Robotics Engineering Seminar "Physiology, dynamics and control theory of walking and walking support robotics" at Korakuen Campus of Chuo University, organized by Robotics Society of Japan, title: Synthetic study of biped walking control based on robotics, 2012.12. 7.
[18] Memorial workshop of Miomir Vukobratović:Robo erectus erectus:From dawn to day of humanoid robot control, a full-day workshop at 2012 IEEE-RAS International Conference on Humanoid Robots at Business Innovation Center Osaka, Japan, title: Things important to humanoid robots: from theory to real, 2012.11.29.
[17] Tokyo University of Agriculture and Technology, School of Engineering, title: Dynamics morphing toward robust and autonomous biped control, 2011. 9.16.
[16] 2011 Japan-America Frontiers of Engineering Symposium organized by National Academy of Engineering and Japan Academy of Engineering (as an organizer), 2011. 6. 5-8.
[15] Dynamic Walking 2010 at MIT E14, title: Dynamics Morphing Toward Globally Stable Bipedalism, 2010. 7.11. [Video provided by MIT TechTV]
[14] Chiba Institute of Technology, School of Engineering, Faculty of Future Robotics, Class of Introduction to Robotics at Bldg. 11 in Shibazono campus, title: my research history on humanoid robotics, 2010. 7. 2.
[13] SSP Open Symposium at Inamori Center, title: Inverse Kinematics of Humanoid Robots: Mathematics to Connect Task Space and Motor Coordinate Space, 2010. 2.17.
[12] "Muster of Robots in Kyushu" at Fukuoka International Congress Center, 2009. 5.24-25.
[11] SSP Open Symposium at Nishijin plaza, title: Dynamics, Control and Motor intelligence of Humanoid Robots, 2009. 2.10.
[10] Robotics Open Seminar by Groups of Young Researchers(in ROBOMEC2008) at Nagano Big Hat, title: Humanoid robots on a dream of human intellect, 2008. 6. 7.
[9] The First Joint Workshop of Human Centric Robotics Expert Committee in the Robotics Society of Japan, Robotics Research Core in Kyushu University and The Society of Instrument and Control Engineers Kyushu Branch at Kyushu University, title: Mathematics in Human motions and Development of Humanoid Robots, 2008. 4.22.
[8] Memorial Lecture in H'19 at Oita National College of Technology "Human-centered Robotics Frontire", title: Motion Design of Humanoid Robots, 2008. 2. 1.
[7] 18th Next Generation Robotics Workshop at Robo-Square, Fukuoka, Japan, title: Dynamics and Control of Humanoid Robots, 2007. 9.27.
[6] 41st Symposium of Robotics Engineering Seminars "Robot Architecture" at University of Tokyo, organized by Robotics Society of Japan, title: To miniaturize Humanoid Robots, 2007. 9.19.
[5] JSPS 4th Japanese-German Colloquium on Robotics, Ismaning, Germany, title: Position-Force Coordination is the Key of Advanced Humanoid Control, 2006.11.19. [PDF,175K]
[4] The 1st T-Lab at T-Lounge organized by Faculty of Engineering, University of Tokyo, 2006. 7.15.
[3] Robot Exhibition at Nagasaki Science Museum as the 10th anniversary memorial event, 2006. 5. 3-5.
[2] Workshop Collection 2006 in AKIBA(with SEGA Corporation) organized by CANVAS (None Political Organization), 2006. 3.11-12.
[1] Prototype Robot Exhibition in The 2005 World Exposition, Aichi, Japan, 2005. 6.11-19.

Reportages

2009.3.8. "A New Way to Make Humanoids Walk - Work in Progress" (GetRobo by Mrs. Norri Kageki)

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