PAPERS
Ryuta Ozawa, Yuki Kakei, Junya Ishizaki, "Passivity-based posture control of a humanoid robot using a power-conserved transformation", Advanced Robotics, Vol.35 No.24 pp.1485-1499, 2021
Zhe Qiu, Ryuta Ozawa, Shugen Ma, "Adaptive virtual power-based collision detection and isolation with link parameter estimation", Advanced Robotics, Vol.34 No.12 pp.814-825, 2020
Tomoo Yoneda, Daiki Morihiro, Ryuta Ozawa, "Development of a multifingered robotic hand with the thenar grasp function", Advanced Robotics, Vol.34 No.10, pp.661-673, 2020
Zhe Qiu, Ryuta Ozawa, Shugen Ma, "A force-sensorless approach to collision detection based on virtual powers", Advanced Robotics, Vol.33 No.23, pp.1209-1224, 2019
Ryuta Ozawa, Kenji Tahara, “Grasp and dexterous manipulation of multi-fingered robotic hands: A review from a control view point”, Advanced Robotics, Vol.31 No.19-20, pp. 1030-1050, 2017, DOI:10.1080/01691864.2017.1365011
Kiichi Suehiro, Ryuta Ozawa, Kirill Van Heerden, "Force-sensorless fault tolerant detection and switching control of tendon-driven mechanisms with redundant tendons", IEEE Robotics and Automation Letters, Vol. 2 No.4, pp. 2248-2254, 2017
Ryuta Ozawa, Yuuki Mishima, Yasuyuki Hirano,
“Design of a transmission with gear trains for underactauted mechanisms“, IEEE Transactions on Robotics, Vol. 32 No.6，pp. 1399-1407, 2015
Kirill Van Heerden, Atsuo Kawamura, "
Humanoid Robot Trajectory Generator for Safe Haptic Arm Control via Arm Wrench Limitation, Trajectory Compensation and Reactive Stepping
", Advanced Robotics, vol. 29 No. 6, pp.413-429, 2015
Ryuta Ozawa, Hiroaki Kobayashi, Ryota Ishibashi, "Adaptive impedance control of a series elastic actuator", Advanced Robotics, vol. 29 No. 4, pp. 273-286, 2015
Ryuta Ozawa, Hiroaki Kobayashi ,Kazunori Hashirii, " Analysis, Classification and Design of Tendon-Driven Mechanisms ", IEEE Transactions on Robotics, vol. 30, No.2, pp.396-410, 2014
Ryuta Ozawa, Kazunori Hashirii, Yotaro Yoshimura, Michinori Moriya, Hiroaki Kobayashi, "
Design and Control of a Three-Fingered Tendon-Driven Robotic Hand with Active and Passive Tendons
", Autonomous Robots , vol. 36 No.1-2, pp.67-78, 2014
(
featured article by Advances in Engineering)
Ryuta Ozawa, Francois Chaumette, "Dynamic Visual Servoing with Image Moments for an Unmanned Aerial Vehicle Using a Virtual Spring Approach", Advanced Robotics , vol. 27 No.9, pp. 683-696, 2013
Shouhei Taniguchi, Hitoshi Kino, Ryuta Ozawa, Ryota Ishibashi, Mitsunori Uemura, Katsuya Kanaoka, Sadao Kawamura, "Inverse dynamics of human passive motion based on iterative learning control", IEEE Trans. on Systems, Man and Cybernetics Part.A 42(2), pp. 307-315, 2012
Kenji Tahara, Suguru Arimoto, Ryuta Ozawa, Zhi Wei Luo, "Biomimetic Pinching Movements of a Musculo-Skeletal Dual-Finger Model", Advanced Robotics Vol.25 No.1-2, pp.175-204, 2011
K. Shigetoshi，T. Isaka，R.Ozawa，T. Morizono，S. Kawamura, "
Measurement and Analysis on Human Torque/Angular Velocity/Angle Position Characteristics Using Isoviscous Loading
", Transactions of the Japan Society of Mechanical Engineers. C Vol.75 No.750, pp.343-348, 2008, in Japanese
A. Nakamura, R. Ozawa, S. Goto，S. Kawamura，Y. Hatanaka， "Development of a Gait Feedback Control System for Ankle Foot Orthoses with a Penumatic Passive Element",
Transactions of the Society of Instrument and Control Engineers Vol. 44 No. 12, pp.956-961, 2008, in Japanese
R. Ishibashi, R. Ozawa, S. Kawamura, "Development of Mass Measurement
System in Microgravity with a Variable Stiffness Mechanism", Transaction
of SICE, Vol.43 No.118，pp.1007-1014，2007, in Japanese
S. Taniguchi, R. Ozawa, S. Kawamura, "Inertial Parameters Identification
of Human Body by Using Time-Scale Transformation and Passive Motion",Transaction
of SICE, Vol.43 No.5，pp.428-434，2007, in Japanese
J.-H. Bae, S.Arimoto, M. Sekimoto and R.Ozawa, "Dexterity and versatility in the pinching motion of robot fingers with multi-degrees of freedom", Advanced Robotics, Vol.20 No.2 pp.137-164, 2006
S. Taniguchi, S. Goto, M. Nakatsuka, R. Ozawa , K. Kanaoka, H. Kino, S.
Kawamura, "Joint Torque Analysis for Humans in Underwater Environment
with Parallel Wire Driven Systems", Trans. of the Japan Society of
Mechanical Engineers C, Vol. 72, No. 714, pp. 186-192, 2006, in Japanese
S. Arimoto, H. Hashiguchi, M. Sekimoto and R. Ozawa , "Generation
of Natural Motions for Redundant Multi-joint Systems: A Differential-Geometric
Approach Based upon the Principle of Least Actions, Journal of Robotic
Systems, Vol. 22 No.11, pp. 583-605, 2005
R. Ozawa , S. Arimoto, S. Nakamura, and J.-H. Bae, "Control of an
Object with Parallel Surfaces by a Pair of Finger Robots without Object
Sensing", IEEE Transactions on Robotics, Vol.21 No.5, pp. 965- 976
, (2005)
S. Arimoto, M. Sekimoto and R. Ozawa , "A Challenge to Bernstein's
Degrees-of-Freedom Problem in Both Cases of Hman and Robotic Multi-Joint
Movements, IEICE Transactions on Fndamentals of Electroinics, Communications
and Computer Sciences, Vol. E88-A No. 10, pp. 2484-2495, 2005
S. Taniguchi, R. Ozawa, N. Sakagami and S. Kawamura, "Joint Torque
Decomposition of Human Body in Passive Motion", Transaction of SICE,,
Vol.41 No.9 pp.763-771, 2005, in Japanese
S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa , "Natural resolution
of ill-posedness of inverse kinematics for redundant robots: A challenge
to Bernstein's degrees-of-freedom problem", Advanced Robotics , Vol. 19
No.4, pp.401-434, (2005). (The Best Paper Award of the Robotics Society
of JAPAN in 2007)
S. Arimoto, H. Hashiguchi, R. Ozawa "A simple control method coping with a kinematically ill-posed inverse problem of redundant robots: analysis in case of a handwriting robot ",, Asian Journal of Control , Vol.
7, No.2, pp.112-123 (2005)
H. Hashiguchi, S. Arimoto, R. Ozawa, "Control of a Handwriting Robot with DOF Redundancy Based on Feedback in Task Coordinates", Journal of Robotics and Mechatronics,Vol.16 No.4., pp. 381-387, 2004
S. Arimoto, J.-H. Bae,H. Hashiguchi, and , R. Ozawa, "Natural resolution of ill-posedness of inverse kinematics for redundant robots under constraints ",Communications in Information and Systems , Vol. 4, No. 1, pp. 1-28,2004.
S. Taniguchi, R. Ozawa , R. Ishibashi, M. Uemura, K. Kanaoka, J. Kino,
S. Kawamura: "Development of a Human Joint Torque Estimation System
applying Passive Motion with Parallel Wire Driven Mechanism", Transaction
of SICE, Vol.40 No.8，pp.，2004, in Japanese
H. Kobayashi, R. Ozawa : "Adaptive neural network control of tendon-driven
mechanisms with elastic tendons", Automatica, Vol.39 No.9，pp.1509-1519，2003
R. Ozawa , H. Kobayashi: Set-point Force Control of Tendon-driven Robotic
Mechanisms with Nonlinear Tendon Elasticity, Journal of the Robotics Society
of Japan, Vol.19 No.3，pp.372-379，2001, in Japanese
R. Ozawa , H. Kobayashi: "Control of Tendon-Driven Mechanical Systems with
Nolinear Elastic Tendons", Journal of the Robotics Society of Japan, Vol.17
No.2，pp.275-281，1999, in Japanese
INTERNATIONAL CONFERENCES
<<2021>>
Ryuta Ozawa, Kiichi Ikenaga, “The center of myoelectric signals as a feature to discriminate grasps”, 43rd Annual Inter. Conf. of the IEEE Engineering in Medicine & Biology Society, November 1-5, 2021
<<2020>>
A. Katsumaru, R. Ozawa, "Design of 3D-printed assembly mechanisms based on special wooden joinery techniques and its application to a robotic hand", Proc. of the 2020 IEEE Int. Conf. on Robotics and automation, Paris, France, June 1, pp. 9981-9987, 2020
<<2018>>
Z. Qiu, R. Ozawa, "A Sensorless Collision Detection Approach Based on Virtual Contact Points", Proc. of the 2018 IEEE Int. Conf. on Robotics and automation, Brisbine, Australia, May 28, p. 7639-7645, 2018
<<2016>>
H. Hirano, K. Akiyama, R. Ozawa, "Design of low-cost and easy-assemblable robotic hands with stiff and elastic gear trains ", Proc. of the 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Dejeon, Korea, Oct., pp.864-870, 2016
<<2015>>
Y. Hirano, R. Ozawa, "Fast, Cheap & (Almost) Toolless Assembly: Design of A 3D-printed Underactuated Robotic Hand ", Breaking Latest Results, Proc. of the 2015 IEEE Int. Conf. on Robotics and automation, Washington, USA, May 28, p. 4097, 2015
K. V. Heerden, "Planning COM trajectory with variable height and foot position with reactive stepping for humanoid robots", Proc. of the 2015 IEEE Int. Conf. on Robotics and automation, Washington, USA, May 29, pp.6275-6280, 2015
R. Ozawa, H. Kobayashi, K. Hyodo, "Design of tendon-driven mechanisms for fault tolerance from
tendon-breaking by using centroid vectors", Proc. of the 2015 IEEE Int. Conf. on Robotics and automation, Washington, USA, May 28, pp.2736-2741, 2015
<<2014>>
Y. Mishima, R. Ozawa, "Design of a robotic finger using series gear chain mechanisms ", Proc. of the 2014 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Chicago, USA, Oct., pp.2898-2903, 2014
K. Mitsui, R. Ozawa, "Design of a Tendon-Driven Robotic Hand with an Embedded Camera", Proc. of the 2014 IEEE Int. Conf. on Robotics and automation, Hong Kong, China, June. 4, pp. 6733-6738, 2014
<<2013>>
K. Mitsui, R. Ozawa , T. Kou "An Under-Actuated Robotic Hand for Multiple Grasps",
Proc. of the 2013 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Tokyo, Japan, Nov. 6, pp. , 2013
<<2012>>
R. Ozawa, J. Ishizaki , "
Passivity-Based Symmetric Posture Control and the Effects of Mass Distribution and Internal Impedance on Balance",
Proc. of the 2012 IEEE Int. Conf. on humanoids, Osaka, Japan, Nov. 30, pp171-176, 2012
Y. Yoshimura, R. Ozawa, "A supervisory control system for a multi-fingered robotic hand using datagloves and a haptic device",
Proc. of the 2012 IEEE Int. Conf. on Robots and Systems (IROS), Vilamoura, Portugal, Dec. 11, pp. 5414-5419, 2012
D. Sawada, R. Ozawa, " Joint control of tendon-driven mechanisms with branching tendons", Proc. of the 2012 Conf. on Robotics and Automation, Minnesota, USA, May 15, pp. 1501-1507, 2012
<<2011>>
R. Ozawa, J. Ishizaki,
"
Passivity-Based Balance Control for a Biped Robot",
Proc. of the 2011 Conf. on Robotics and Automation, Shanghai, China, May 5-13, pp550-556, 2011
R. Ozawa, F. Chaumette , "Dynamic Visual Servoing with Image Moments for a Quadrotor Using a Virtual Spring Approach",
Proc. of the 2011 Conf. on Robotics and Automation, Shanghai, China, May 5-13, pp5670-5676, 2011
<<2010>>
R. Ozawa, M. Moriya, "Effects of elasticity on an under-actuated tendon-driven robotic finger ",
Proc. of the 2007 IEEE Int. Conf. On Robotics and Biomimmetics(ROBIO),Dec.14-18, Tianjin, China, pp.891-896, 2010
R. Ozawa,Y. Kojima, "Control of a powered biped without ankle actuation ",
Proc. of the 2010 IEEE Int. Conf. On Intelligent Robots and Systems (IROS) Taipei, Taiwan, Oct.18-22, pp.3717-3722, 2010
<<2009>>
R. Ozawa, Y. Oobayashi, "Adaptive task space PD control via implicit use of visual information",
Proc. of the Inter. Symp. on Robot Control," Gifu, Japan, pp.209-215, Sep. 2009
R. Ozawa, K. Hashirii, H. Kobayashi, "Design and Control of underactuated tendon-driven mechanisms",
Proc. of the 2009 IEEE Int. Conf. on Robotics and Automation, Kobe, JAPAN, pp.1522-1527, May, 2009
<<2008>>
R. Ishibashi, R.Ozawa, S. Kawamura, "Experimental verification of the mass measurement device in microgravity
with a prismatic variable stiffness mechanism",
Inter. Conf. on machine automation, Awajishima, JAPAN, Sep.
<<2007>>
R. Ozawa, N. Ueda, "Supervisory control of a multi-fingered robotic hand with data glove ",
Proc. of the 2007 IEEE Int. Conf. On Intelligent Robots and Systems (IROS), Oct 29-Nov.2, San Diego, USA, pp.1606-1611, 2007
R. Ishibashi, R. Ozawa, S. Kawamura,
``
Mass Estimation in microgravity with a Variable Stiffness Mechanism'',
2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2007),
#166, Zurich, Sep. 4-7, 2007
<<2006>>
R. Ozawa, S. Arimoto, "A unified approach for multi-fingered manipulation
with non-sliding contact in a horizontal plane", Proc. of the 2006
IEEE Int. Conf. On Control, Automation, Robotics and Vision, Dec5-8, Singapore,
Singapore .pp.582-587, 2007
R. Ozawa, T. Yoshinari, H. Hashiguchi, S. Arimoto, "Supervisory Control
Strategies in a Multi-Fingered Robotic Hand System", Proc. of the
2006 IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Oct 9-15,
Beijing, China, pp.965-970, 2006
P. T. A. Nguyen, R. Ozawa, S. Arimoto, "Manipulation of a circular
object by a pair of multi-DOF robotic fingers ", Proc. of the 2006
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Oct 9-15, Beijing,
China, pp.5669-5674, 2006
K. Shigetoshi, T. Isaka, R. Ozawa, T. Morizono, and S. Kawamura,"Evaluation
of the Skeletal Muscle Characteristics with Viscous Loading", Proc.
of 5th world congress of Biomechanics, July 29-August. 4, Munich, Germany,
pp.237-240, 2006
R. Ozawa, J.-H. Bae, S. Arimoto, "Multi-fingered Dynamic Blind Grasping
with Tactile Feedback in a Horizontal Plane", Proc. of the 2006 IEEE
Int. Conf. on Robotics and Automation, May 15-19, Orlando, Florida, pp.1006-1011,
2006
J.-H. Bae, S. Arimoto、R. Ozawa、M. Sekimoto,M. Yoshida, "A Unified
Control Scheme for a Whole Robotic Arm-Fingers Systems in Grasping and
Manipulation", Proc. of the 2006 IEEE Int. Conf. on Robotics and Automation,
May 15-19, Orlando, Florida, pp. 2131-2136, 2006
K. Tahara, Z.-W. Luo, R. Ozawa、 J.-H. Bae, S. Arimoto, "Bio-Mimetic
Study on Pinching Motions of A Dual-Finger Model with Synergistic Actuation
of Antagonist Muscles", Proc. of the 2006 IEEE Int. Conf. on Robotics
and Automation, May 15-19, Orlando, Florida, pp.994-999, 2006 (A Finalist
of the Best Manipulation Paper Award in ICRA'06)
H. Hirai, R. Ozawa, S. Goto, H. Fujigaya, S. Yamasaki, Y. Hatanaka, S. Kawamura,"
Development of an ankle-foot orthosis with a pneumatic passive element",
Proc. of The 15th IEEE International Symposium on Robot and Human Interactive Communication (ROMAN 2006),
Sep. 6-8, Hatfield, UK, pp. 220-225, 2006.
<<2005>>
K. Shigetoshi, R. Ozawa, T. Isaka and S. Kawamra, "Developement of
strength training Machine system with a new concept", Proc. of the
impact of technology on sport (APCST), Tokyo, Japan, pp.57-61, 2005
R. Ozawa, S. Arimoto, P. T. A. Nguyen, M. Yoshida and J.-H. Bae: "Manipulation
of a circular object without object information", Proc. of the 2005
IEEE Int. Conf. on Intelligent Robots and Systems (IROS), Aug. 2-6, Edmonton,
Alberta, Canada ,pp3239-3245, 2005
J.-H. Bae, S. Arimoto, M. Yoshida and R. Ozawa:"Generation of Fingering
Motions by Robotic Fingers using Morphological Characteristics of Human
Thumb",Proc. of the 2005 IEEE Int. Conf. on Intelligent Robots and
Systems (IROS), Aug. 2-6, Edmonton, Alberta, Canada, pp.2457-2463, 2005
S. Arimoto, M. Sekimoto and R. Ozawa: "Can Newtonian Mechanics Aid
in the Development of Brain Science?:A Challenge to Bernstein's Degrees-of-Freedom
Problem", The First International Conference on Complex Medical Engineering(CME2005),
May 15-18, Takamatsu, Japan, 2005
S. Taniguchi, R. Ozawa, N. Sakagami, H. Kino and S. Kawamura, "Estimation
and Decomposition of Human Joint Torque in Passive Motion", The First
International Conference on Complex Medical Engineering(CME2005), May 15-18,
Takamatsu, Japan, 2005
S. Arimoto, R. Ozawa, and M. Yoshida: "Two-dimensional stable blind
grasping under the gravity effect", Proc. of the 2005 IEEE Int. Conf.
on Robotics and Automation , April 18-22, Barcelona, Spain, (2005) (A Finalist
of the Best Manipulation Paper Award in ICRA'05)
J.-H. Bae, S. Arimoto, R. Ozawa, and M. Sekimoto: "Enhancement of
dexterity in robotic grasping referring to characteristics of human grasping",
Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation , April 18-22,
Barcelona, Spain, (2005)
S. Arimoto, M. Sekimoto, H. Hashiguchi, and R. Ozawa, "Physiologically
Inspired Robot Control: A Challenge to Bernstein‘s Degrees-of-Freedom
Problem", Proc. of the 2005 IEEE Int. Conf. on Robotics and Automation
, April 18-22, Barcelona, Spain, (2005)
<<2004>>
S. Arimoto, M. Sekimoto, R. Ozawa, and M. Yoshida: "Natural resolution
of ill-posed inverse kinematics for redundant robots: A challenge to Bernstein's
degrees-of-freedom problem", Proc. of Complex Systems Intelligence
and Modern Technology Applications (CSIMTA) 2004, Sept. 19-22, Cherbourg,
France, pp. 620-627 (2004)
H. Hashiguchi, S. Arimoto, and R. Ozawa: "A sensory feedback method
for a handwriting robot with D.O.F. redundancy", Proc. of 2004 IEEE/RSJ
Int. Conf. on Intelligent Robots and Systems , Sept. 28 - Oct. 2, Sendai,
Japan, pp. 3918-3923 (2004).
M. Yoshida, S. Arimoto, and R. Ozawa: "Feasibility study of pinching
of a rigid object with non-parallel flat surfaces", Proc. of 2004
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems , Sept. 28 - Oct.
2, Sendai, Japan, pp. 3680-3685 (2004)
R. Ozawa, S. Arimoto, P.T.A. Nguyen, M. Yoshida, and J.-H. Bae: "Manipulation
of a circular object in a horizontal plane by two finger robots" ,
Proc. of IEEE Int. Conf. on Robotics and Biomimetics, Shengyang, China,
Augst, paper no. 291, 2004 (A Finalist of the Best Paper Award and the
Best Paper Award in Robotics in ROBIO'04)
J.-H. Bae, S. Arimoto, M. Sekimoto and R. Ozawa: "Dexterity Analysis
of Human and Robotics Grasping Motions from the Viewpoint of Dynamics",
Proc. of IEEE Int. Conf. on Robotics and Biomimetics, Shenyang, China,
August, paper no.217, 2004
H. Hashiguchi, S. Arimoto, and R. Ozawa: "A Sensory Feedback Method
for Control of a Handwriting Robot with DOF-Redundancy", Proc. on
2004Japan-USA Flexible Automation, Dember, July, 2004 (The Winner of the
Best Paper Award in JASFA'04)
R. Ozawa, S. Arimoto, S. Nakamura, M. Yoshida: "Stable grasping and
relative angle control of an object by dual finger robots without object
sensing", Proc. of 2004 IEEE Int. Conf. on Robotics and Automation,
New Orleans, LA, April, pp.1694-1699, 2004 (A Finalist of the Best Manipulation
Paper Award in ICRA'04)
S. Arimoto, J.-H. Bae, H. Hashiguchi, and R. Ozawa:"Why Does Surplus
DOF of Robot Fingers Enhance Dexterity of Object Manipulation?: Analysis
and Simulation of Overall Fingers-Object Dynamics", Proc. of 2004
IEEE Int. Conf. on Robotics and Automation, New Orleans, LA, April, pp.2936-2943
,2004
<<2003>>
R. Ozawa, H. Kobayashi: "
A New Impedance Control Concept for Elastic Joint Robots
", Proc. of 2003 IEEE Int. Conf. on Robotics and Automation,
Taipei, Taiwan, 2003
<<2002>>
R. Ozawa, H. Kobayashi:
Response Characteristics of Elastic Joint Robots Driven by Various Types of Controllers against External Disturbances,
Proc. of the 6th Inter. Conf. on Motion and Vibration Control, Saitama, Japan,
August, pp.420-425, 2002
<<2000>>
R. Ozawa, H. Kobayashi: Stability of PD Control Systems of Tendon-Driven
Mechanisms with Nonlinear Tendon Elasticity, Proc. of 2000 Japan-USA Flexible
Automation, Ann Aber, Michigan, July, 2000
R. Ozawa, H. Kobayashi: Control of Coupled Tendon-Driven Mechanisms with
Nolinear Tendon Elasticity, Proc. Pioneering Int. Symp. on Motion and Vibration
Control in Mechatronics, Tokyo, Japan, April, pp.151-156, 1999
WORKSHOP
R. Ozawa, K. Tahara, J.-H. Bae: "Robust, cheap and dextrous manipulation", at IROS 2012 Workshop: Beyond Robot Grasping - Modern Approaches for Learning Dynamic Manipulation
AWARDS and NOMINATIONS
A Distinguished Service Award as an Outstanding Reviewer for the IEEE Robotics and Automation Letters in 2020
The Best Paper Award of the Robotics Society of Japan in 2007
The young incentive award, Dept. of System Integration in The Society of
Instrument and Control Engineers in 2006
A Finalist, the Best Manipulation Paper Award in ICRA'06
A Finalist, the Best Manipulation Paper Award in ICRA'05
A Finalist, the Best Paper Award in Robotics and the Best Paper Award in
ROBIO'04
The Winner, the Best Paper Award in JASFA'04
A Finalist, the Best Paper Award in ICRA`04
The Winner, the Best Manipulation Paper Award in JASFA'04
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