Ryo Kikuuwe's Publications

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Full texts are available upon request. Please email me at  .

Journal Papers

  1. Myo Thant Sin Aung, Zhan Shi and Ryo Kikuuwe:“A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control,” Accepted for the publication in Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, doi:10.1115/1.4037732, 2017.
    • [Link to ASME Digital Library]
    • [Full text is available upon request.]
    • [Abstract]

  1. Ryo Kikuuwe:“Some Stability Proofs on Proxy-Based Sliding Mode Control,” IMA Journal of Mathematical Control and Information, doi:10.1093/imamci/dnx030, 2017.
    • [Link to Oxford Academic]
    • [Abstract]

  1. Ryo Kikuuwe:“A Time-Integration Method for Stable Simulation of Extremely Deformable Hyperelastic Objects,” The Visual Computer, Vol.33, No.10, pp.1335-1346, October 2017.
    • [Link to Springer]
    • [PDF of the author's version]
    • [Abstract]
    • [Link to YouTube]

  1. Myo Thant Sin Aung and Ryo Kikuuwe:“Stability Enhancement of Admittance Control with Acceleration Feedback and Friction Compensation,” Mechatronics, Vol.45, pp.110-118, August 2017.
    • [Link to Elsevier]
    • [PDF of the authors' version]
    • [Abstract]

  1. Masayoshi Iwatani and Ryo Kikuuwe:“Some Improvements in Elastoplastic Friction Compensator,” SICE Journal of Control, Measurement, and System Integration, Vol.10, No.3, pp.141-148, May 2017.
    • [Link to J-Stage]
    • [PDF]
    • [Abstract]

  1. Ryo Kikuuwe and Bernard Brogliato:“A New Representation of Systems with Frictional Unilateral Constraints and Its Baumgarte-Like Relaxation,” Multibody System Dynamics, Vol.39, No.3, pp.267-290, March 2017.
    • [Link to Springer]
    • [PDF of the authors' version]
    • [Abstract]

  1. Masayoshi Iwatani and Ryo Kikuuwe:“An Identification Procedure for Rate-Dependency of Friction in Robotic Joints with Limited Motion Ranges,” Mechatronics, Vol.36, pp.36-44, June 2016.
    • [Link to Elsevier]
    • [PDF of the authors' version]
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“Backward Euler Simulation of One-Dimensional Burridge-Knopoff Model of Earthquakes with Set-Valued Friction Laws,” Advances in Computational Mathematics, Vol.41, No.6, pp.1039-1057, December 2015.
    • [Link to Springer]
    • [Full text is available upon request.]
    • [Abstract]

  1. Ryo Kikuuwe, Katsuya Kanaoka, Tomohiro Kumon and Motoji Yamamoto:“Phase-Lead Stabilization of Force-Projecting Master-Slave Systems with a New Sliding Mode Filter,” IEEE Transactions on Control Systems Technology, Vol.23, No.6, pp.2182-2194, October 2015.
    • [Link to IEEE Xplore]
    • [PDF of the authors' final version]
    • [Abstract]
    • [Link to YouTube]

  1. Myo Thant Sin Aung, Ryo Kikuuwe and Motoji Yamamoto:“Friction Compensation of Geared Actuators with High Presliding Stiffness,” Transactions of ASME: Journal of Dynamic Systems, Measurement, and Control, Vol.137, No.1, Article 011007, January 2015.
    • [Link to ASME Digital Library]
    • [Full text is available upon request.]
    • [Abstract]
    • [Link to YouTube]

  1. Ryo Kikuuwe:“A Sliding-Mode-Like Position Controller for Admittance Control with Bounded Actuator Force,” IEEE/ASME Transactions on Mechatronics, Vol.19, No.5, pp.1489-1500, October 2014.
    • [Link to IEEE Xplore]
    • [PDF of the author's final version]
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto:“Improving Velocity Feedback for Position Control by Using a Discrete-Time Sliding Mode Filtering with Adaptive Windowing,” Advanced Robotics, Vol.28, No.14, pp.943-953, July 2014.
    • [Link to Taylor & Francis Group]
    • [Full text is available upon request.]
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“A Contact Force Model with Nonlinear Compliance and Residual Indentation,” Transactions of ASME: Journal of Applied Mechanics, Vol.81, No.2, Article 021003, February 2014.
    • [Link to ASME Digital Library]
    • [Full text is available upon request.]
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“A Multistate Friction Model Described by Continuous Differential Equations,” Tribology Letters, Vol.51, No.3, pp.513-523, September 2013.
    • [Link to Springer]
    • [Full text is available upon request.]
    • [Abstract]

  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“A Differential-Algebraic Method to Approximate Nonsmooth Mechanical Systems by Ordinary Differential Equations,” Journal of Applied Mathematics, Vol.2013, Article 320276, May 2013.
    • [Link to Hindawi Publishing Corporation]
    • [PDF file from the publisher]
    • [Link to YouTube]
    • [Abstract]

  1. Ryo Kikuuwe: “Alternative Proofs of Four Stability Properties of Rigid Link Manipulators under PID Position Control,” Robotica, Vol.31, No.1, pp.113-122, January 2013.
    • [Link to Cambridge Journal Online]
    • [PDF file]
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics,” Journal of Control Science and Engineering, Vol.2012, Article 923679, December 2012.
    • [Link to Hindawi Publishing Corporation]
    • [PDF file from the publisher]
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Advanced Robotics, Vol.26, No.8-9, pp.877-896, July 2012.
    • Awarded with Advanced Robotics Best Paper Award.
    • [Full text is available upon request.]
    • [Link to Taylor & Francis Group]
    • [Abstract]

  • Ryo Kikuuwe, Kenta Nakamura and Motoji Yamamoto: “Finger-Mounted Tactile Sensor for Evaluating Surfaces,” Journal of Robotics and Mechatronics, Vol.24, No.3, pp.430-440, June 2012.
    • This is a translated paper. The original version (in Japanese) is found here.
    • [Link to Fuji Technology Press]
    • [Abstract]

  1. Ryo Kikuuwe, Satoshi Yasukouchi, Hideo Fujimoto and Motoji Yamamoto: “Proxy-Based Sliding Mode Control: A Safer Extension of PID Position Control,” IEEE Transactions on Robotics, Vol.26, No.4, pp.670-683, August 2010.
    • [Link to IEEE Xplore]
    • [PDF file]
    • [Link to IEEE Copyright Policy (Section 8.1.9 of IEEE PSPB Operations Manual)]
    • [Abstract]
    • What is Proxy-Based Sliding Mode Control?

  1. Ryo Kikuuwe, Hiroaki Tabuchi and Motoji Yamamoto: “An Edge-Based Computationally Efficient Formulation of Saint Venant-Kirchhoff Tetrahedral Finite Elements,” ACM Transactions on Graphics, Vol.28, No.1, pp.8:1-8:13, January 2009.
    • [Link to ACM Digital Library]
    • [pdf of draft version]
    • [Movie 1] [Movie 2]
    • This paper was presented at SIGGRAPH 2009.
    • The travel expense for attending SIGGRAPH 2009 was partially supported by The Murata Science Foundation.
    • [Abstract]

  1. Ryo Kikuuwe, Naoyuki Takesue and Hideo Fujimoto: “A Control Framework to Generate Nonenergy-Storing Virtual Fixtures: Use of Simulated Plasticity,” IEEE Transactions on Robotics, Vol.24, No.4, pp.781-793, August 2008.
    • [Link to IEEE Xplore]
    • [pdf file]
    • [Abstract]

  1. Ryo Kikuuwe, Takahiro Yamamoto and Hideo Fujimoto: “A Guideline for Low-Force Robotic Guidance for Enhancing Human Performance of Positioning and Trajectory Tracking: It Should Be Stiff and Appropriately Slow,” IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, Vol.38, No.4, pp.945-957, July 2008.
    • [Link to IEEE Xplore]
    • [pdf file]
    • [Abstract]

  • Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama, Ryo Kikuuwe, Taiki Ishiguro and Hideo Fujimoto: “Analysis and Experiment of Helical Spring-Type Pressure and Shear Sensor,” Journal of System Design and Dynamics, Vol.1, No.3, pp.629-637, August 2007.
    • This is a translated paper. The original version (in Japanese) is found here.
    • [Link to J-Stage]
    • [Abstract]

  1. Ryo Kikuuwe, Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama and Hideo Fujimoto: “Admittance and Impedance Representations of Friction Based on Implicit Euler Integration,” IEEE Transactions on Robotics, Vol.22, No.6, pp.1176-1188, December 2006.
    • [Link to IEEE Xplore]
    • [pdf file]
    • [Abstract]

  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Recognizing Object Surface Properties Using Impedance Perception,” Robotica, Vol.23, No.3, pp.387-396, May 2005.
    • [Link to Cambridge University Press]
    • [Full text is available upon request.]
    • [Abstract]

  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Robot Perception of Impedance,” Journal of Robotic Systems, Vol.22, No.5, pp.231-247, May 2005.
    • [Link to Wiley InterScience]
    • [Full text is available upon request.]
    • [Abstract]

  1. Ryo Kikuuwe, Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue and Hideo Fujimoto: “Enhancing Haptic Detection of Surface Undulation,” ACM Transactions on Applied Perception, Vol.2, No.1, pp.46-67, January 2005.
    • [Link to ACM Digital Library]
    • [pdf of draft version]
    • [Abstract]

Conference Papers (reviewed)

  1. Soe Lin Paing, Myo Thant Sin Aung and Ryo Kikuuwe: “Adaptive Gain Parabolic Sliding Mode Filter Augmented with Vibration Observer,” 1st IEEE Conference on Control Technology and Applications, August 2017 (Hawaii, USA). (accepted)
  2. Ryo Kikuuwe and Kahhaw Hoo: “A Viscoelastic Tyre Friction Model Based on a Partial Differential-Algebraic Inclusion,” Accepted for the presentaiton in EUROMECH Colloquium 578: Rolling Contact Mechanics for Multibody System Dynamics, April 2017 (Madeira, Portugal). (abstract reviewed)
  3. Rafael Cisneros, Ryo Kikuuwe, Shin'ichiro Nakaoka and Fumio Kanehiro: “Stable Simulation of Flexible Cable-Like Objects by Using Serial Kinematic Chains with High Number of Passive Degrees-of-Freedom," 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2016), pp.119-126, December 2016 (San Francisco, USA).
  4. Masayoshi Iwatani and Ryo Kikuuwe: “An Elastoplastic Friction Force Estimator And Its Application to External Force Estimation And Force Sensorless Admittance Control,” In Proceedings of 2016 IEEE/SICE International Symposium on System Integration (SII2016), pp.45-50, December 2016 (Sapporo, Japan).
  5. Masayoshi Iwatani and Ryo Kikuuwe: “An External Force Estimator Using Elastoplastic Friction Model With Improved Static Friction Behavior,” In Proceedings of 14th International Conference on Control, Automation, Robotics and Vision (ICARCV2016), Tu42.6, 2016 (Phuket, Thailand).
  6. Masayoshi Iwatani and Ryo Kikuuwe: “An Elastoplastic Friction Compensator with Improved Static Friction Behavior,” In Proceedings of SICE Annual Conference 2016 (SICE2016), pp.1091-1097, September 2016 (Tsukuba, Japan).
  7. Naoki Wakisaka, Ryo Kikuuwe and Tomomichi Sugihara: “Fast Forward Dynamics Simulation of Robot Manipulators with Highly Frictional Gears,” In Proceedings of 2016 International Conference on Robotics and Automation (ICRA2016), pp.2096-2101, May 2016 (Stockholm, Sweden).
  1. Myo Thant Sin Aung and Ryo Kikuuwe: “Acceleration Feedback and Friction Compensation for Improving Positioning Performance in Systems with Friction,” the 2015 American Control Conference (ACC2015), pp.4798-4803, July 2015 (Chicago, USA).
    • [Link to IEEE Xplore]
    • [Abstract]
  2. Masayoshi Iwatani and Ryo Kikuuwe: “An Identification Procedure for Rate-Dependent Friction Laws of Robotic Manipulator with Limited Motion Range,” In Proceedings of the 10th Asian Control Conference (ASCC2015), pp.526-530, June 2015 (Kota Kinabalu, Malaysia).
    • [Link to IEEE Xplore]
    • [Abstract]
  3. Myo Thant Sin Aung and Ryo Kikuuwe: “Acceleration Feedback and Friction Compensation for Improving the Stability of Admittance Control,” In Proceedings of the 10th Asian Control Conference (ASCC2015), pp.404-409, June 2015 (Kota Kinabalu, Malaysia).
    • [Link to IEEE Xplore]
    • [Abstract]
  4. Myo Thant Sin Aung, Zhan Shi, Ryo Kikuuwe: “A New Noise-Reduction Filter with Sliding Mode and Low-Pass Filtering,” In Proceedings of the 2014 IEEE Conference on Control Applications (CCA), pp.1029-1034, October 2014 (Antibes/Nice, France).
    • [Link to IEEE Xplore]
    • [Abstract]
  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“Backward-Euler Discretization of Second-Order Sliding Mode Control And Super-Twisting Observer For Accurate Position Control,” In Proceedings of the 2013 ASME Dynamic Systems and Control Conference (DSCC 2013), Paper No. DSCC2013-3872, October 2013 (Palo Alto, California, USA).
    • [Link to DSCC2013]
    • [Link to ASME Digital Library]
    • [Abstract]

  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto:“Discrete-time Velocity Estimator Based on Sliding Mode and Adaptive Windowing,” In Proceedings of the 2012 IEEE/SICE International Symposium on System Integration (SII 2012), pp.835-841, December 2012 (Fukuoka, Japan).
    • [Link to IEEE Xplore]
    • [Abstract]
  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“A Differential-Algebraic Multistate Friction Model,” In Simulation, Modeling, and Programming for Autonomous Robots, Lecture Notes in Computer Science, vol. 7628, Itsuki Noda, Noriaki Ando, Davide Brugali and James J. Kuffner (Eds.), Springer, pp.77-88, 2012. (Proceedings of SIMPAR2012, November 2012, Tsukuba, Japan)
    • [Link to Springer]
    • [Link to SIMPAR2012]
    • [Abstract]
  1. Xiaogang Xiong, Ryo Kikuuwe and Motoji Yamamoto:“A Differential-Algebraic Contact Model with Nonlinear Compliance,” In Proceedings of the 2012 ASME Dynamic Systems and Control Conference (DSCC/MOVIC 2012), pp. 377-383, October 2012 (Fort Lauderdale, Florida, USA).
    • [Link to ASME Digital Library]
    • [Abstract]
  1. Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto: “Improved Velocity Feedback for Position Control by Using a Quadratic Sliding Mode Filter,” In Proceedings of the 11th International Conference on Control, Automation and Systems (ICCAS 2011), pp.1207-1212, October 2011 (Goyang, Korea).
  2. Ryo Kikuuwe: “Semiglobally Strictly Passive Two-Port Network Representation of Rigid Link Manipulator Under PID Trajectory-Tracking Control,” In Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), pp.3529-3535, December 2010 (Atlanta, USA).
  3. Ryo Kikuuwe and Motoji Yamamoto: “A Modular Software Architecture for Simulating Mechanical Systems Involving Coulomb Friction Integrable By the Runge-Kutta Method,” In Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008), pp.2277-2282, September 2008 (Nice, France).
    • [pdf file]
  4. Ryo Kikuuwe, Naoyuki Takesue and Hideo Fujimoto: “Passive Virtual Fixtures Based on Simulated Position-Dependent Anisotropic Plasticity,” In Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007), pp.3263-3268, April 2007 (Rome, Italy).
    • [pdf file]
  1. Ryo Kikuuwe and Hideo Fujimoto: “Incorporating Geometric Algorithms in Impedance- and Admittance-Type Haptic Rendering,” In Proceedings of the Second Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (World Haptics Conference 2007), pp.249-254, March 2007 (Tsukuba, Japan).
    • [pdf file]

  1. Ryo Kikuuwe, Takahiro Yamamoto and Hideo Fujimoto: “Velocity-Bounding Stiff Position Controller,” In Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006), pp.3050-3055, October 2006 (Beijing, China).
    • [pdf file]

  1. Ryo Kikuuwe, Yu Kobayashi and Hideo Fujimoto: “Coulomb-Friction-Based Needle Insertion/Withdrawal Model And Its Discrete-Time Implementation,” In Proceedings of EuroHaptics 2006, pp.207-212, July 2006 (Paris, France).
    • [pdf file]
    • [Abstract]

  1. Ryo Kikuuwe and Hideo Fujimoto: “Proxy-Based Sliding Mode Control For Accurate and Safe Position Control,” In Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA 2006), pp.25-30, May 2006 (Orlando, USA).
    • [pdf file]
  2. Ryo Kikuuwe, Takahiro Yamamoto and Hideo Fujimoto: “Low-Force Kinesthetic Guidance For Accurate Positioning and Tracking,” In Proceedings of the 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (Haptics 2006), pp.491-498, March 2006 (Alexandria, Virginia, USA).
    • [pdf file]
    • [pdf of the poster at the conference site]
  3. Ryo Kikuuwe, Naoyuki Takesue, Akihito Sano, Hiromi Mochiyama and Hideo Fujimoto: “Fixed-Step Friction Simulation: From Classical Coulomb Model to Modern Continuous Models,” In Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), pp.3910-3917, August 2005 (Edmonton, Canada).
    • [pdf file]
  4. Ryo Kikuuwe, Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Kunihiro Tsunekawa, Sotaro Suzuki and Hideo Fujimoto:“The Tactile Contact Lens,” In Proceedings of the 3rd IEEE Conference on Sensors (SENSORS 2004), pp.535-539, October 2004 (Vienna, Austria).
    • [pdf file]
  1. Ryo Kikuuwe, Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue and Hideo Fujimoto: “A Tactile Sensor Capable of Mechanical Adaptation and Its Use as a Surface Deflection Detector,” In Proceedings of the 3rd IEEE Conference on Sensors (SENSORS 2004), pp.256-259, October 2004 (Vienna, Austria).
    • [pdf file]

  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Recognizing Cylindrical Surface Using Impedance Perception,” In Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), pp.19-24, October 2003 (Las Vegas, USA).
    • [pdf file]
  2. Ryo Kikuuwe and Tsuneo Yoshikawa: “Recognizing Surface Properties Using Impedance Perception,” In Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA 2003), pp.1539-1544, September 2003 (Taipei, Taiwan).
    • [pdf file]
  3. Ryo Kikuuwe and Tsuneo Yoshikawa: “Robot Perception of Environment Impedance,” In Proceedings of 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), pp.1661-1666, May 2002 (Washington DC, USA).
    • [pdf file]
  1. Ryo Kikuuwe and Tsuneo Yoshikawa: “Haptic Display Device with Fingertip Presser for Motion/Force Teaching to Human,” In Proceedings of the 2001 IEEE International Conference on Robotics and Automation (ICRA 2001), pp.868-873, May 2001 (Seoul, Korea).
    • [pdf file]

Presentations and Seminars

Awards

  1. Advanced Robotics Best Paper Award, 2013: for“Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Shanhai Jin, Ryo Kikuuwe and Motoji Yamamoto.
  2. Young Investigator Excellence Award (from The Robotics Society of Japan), 2005.
  3. Certificate of Merit for ROBOMEC Outstanding Research Activity (from Robotics and Mechatronics Division, The Japan Society of Mechanical Engineers), 2005: for “Tactile Contact Lens -- Basic Concept,” Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Ryo Kikuuwe, Kunihiro Tsunekawa and Hideo Fujimoto.
  4. Shorei-Sho (from Chubu Chapter of The Society of Instrument and Control Engineers, Japan), 2005.
  5. Best Technical Exhibition Award (The 2004 1st IEEE Technical Exhibition-Based Conference on Robotics and Automation, TExCRA2004), 2004: for “TouchLens: Touch Enhancing Tool,” Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Ryo Kikuuwe and Hideo Fujimoto.
  6. Good Design Award (Japan Industrial Design Promotion Orgaization), 2004: for “TouchLens,” Hideo Fujimoto and Toyota Motor Corporation (Producers), Akihito Sano, Hiromi Mochiyama, Naoyuki Takesue, Ryo Kikuuwe and Kunihiro Tsunekawa (Designers).

Dissertation


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