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[1] Masayuki Inaba, Kei Okada, Ikuo Mizuuchi, Tetsuya Inamura:
System Realization of Humanoid Robot - Implementation in Robot System Description Language Euslisp,
Computer Software, Vol.23, No.2, pp.45--61, 2006.
[2] Kei Okada, Ryo Hanai, Suguru Kanzaki, Masayuki Inaba, Taichi Yuasa:
Realtime GC into Multi-thread Lisp for Humanoid Software System,
Computer Software, Vol.23, No.2, pp.168--174, 2006.
[3] Koichi Nishiwaki, Yasutaka Fukumoto, Satoshi Kagami, Masayuki Inaba, Hirochika Inoue:
Hand-position Oriented Humanoid Walking Motion Control System,
Springer Tracts in Advanced Robotics, Vol.21, No., pp.239--248, 2006.

[4] Ikuo Mizuuchi, Tomoaki Yoshikai, Yoshinao Sodeyama, Yuto Nakanishi, Akihiko Miyadera, Taichi Yamamoto, Tuomas Niemelä, Marika Hayashi, Junichi Urata, Yuta Namiki, Tamaki Nishino, Masayuki Inaba :
Development of Musculoskeletal Humanoid Kotaro,
in Proceedings of The 2006 IEEE International Conference on Robotics and Automation, pp.82--87, 2006.
[5] Fabien Gravot, Atsushi Haneda, Kei Okada, Masayuki Inaba:
Cooking for humanoid robot, a task that needs symbolic and geometric reasonings.,
in Proceedings of The 2006 IEEE International Conference on Robotics and Automation, pp.462--467, 2006.
[6] Kei Okada, Marika Hayashi, Masayuki Inaba:
Development of Waterproof Glove for Humanoid Robots in Daily Environment Tasks,
in Proceedings of The 2006 IEEE International Conference on Robotics and Automation, pp.4419--4421, 2006.
[7] Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki Inaba:
Humanoid's Imitation Behavior with Reflexes by Parallel Evaluating Monitors,
in Proceedings of The 2006 IEEE International Conference on Robotics and Automation, pp.4440--4442, 2006.
[8] Junichi Urata, Yuto Nakanishi, Akihiko Miyadera, Ikuo Mizuuchi, Tomoaki Yoshikai, Masayuki Inaba:
A Three-Dimensional Angle Sensor for a Spherical Joint Using a Micro Camera,
in Proceedings of The 2006 IEEE International Conference on Robotics and Automation, pp.4428--4430, 2006.
[9] Tetsunari Inamura, Naoki Kojo, Masayuki Inaba:
Situation Recognition and Behavior Induction based on Geometric Symbol Representation of Multimodal Sensorimotor Patterns,
in Proceedings of The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5147--5152, 2006.
[10] Kei Okada, Masayuki Inaba:
A Hybrid Approach to Practical Self Collision Detection System of Humanoid Robot,
in Proceedings of The 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3952--3957, 2006.
[11] Kei Okada, Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Kenji Sato, Masayuki Inaba :
Vision based behavior verification system of humanoid robot for daily environment tasks ,
in 2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), pp.7--12, 2006.
[12] Naoki Kojo, Tetsunari Inamura, Kei Okada, Masayuki Inaba:
Gesture Recognition for Humanoids using Proto-symbol Space,
in 2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), pp.76--81, 2006.
[13] Ikuo Mizuuchi, Yuto Nakanishi, Yuta Namiki, Tomoaki Yoshikai, Yoshinao Sodeyama, Tamaki Nishino, Junichi Urata, Masayuki Inaba:
Realization of Standing of the Musculoskeletal Humanoid Kotaro by Reinforcing Muscles,
in 2006 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), pp.176--181, 2006.

[14] Ikuo Mizuuchi, Tomoaki Yoshikai, Yuto Nakanishi, Yuta Namiki, Tamaki Nishino, Akihiko Miyadera, Masayuki Inaba:
Prospects of Research on Musculoskeletal Humanoids,
in 2006 JSME Conference on Robotics and Mechatronics, 1A1-E04, 2006.
[15] Kei Okada, Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Masayuki Inaba:
Model-based Attention and Planning for Daily Assistive Tasks in Humanoid,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D23, 2006.
[16] Junya Fujimoto, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Reaching Strategy for Humanoids with a Camera and a Light Source on their Hand,
in 2006 JSME Conference on Robotics and Mechatronics, 1A1-B38, 2006.
[17] Tsuyoshi Horo, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Realtime Pointing Gesture Recognition Using Volume Intersection,
in 2006 JSME Conference on Robotics and Mechatronics, 1P1-D13, 2006.
[18] Yui Ishizaka, Marika Hayashi, Shigeru Kanzaki, Kei Okada, Ikuo Mizuuchi, Tetsunari Inamura, Masayuki Inaba:
Development of Touchy-feely Friendly Robot and Animal Suits Embedded Fibratus Tactile Sensor,
in 2006 JSME Conference on Robotics and Mechatronics, 1P1-E05, 2006.
[19] Toshiyuki Ichino, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Humanoid Recognizing Dynamic Change of Water Based on Static Model of Its Surroundings,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D17, 2006.
[20] Yuichi Sagawa, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Recognition of Tool Manipulation and Emergence of Imitation on Humanoid Robots,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D22, 2006.
[21] Satoru Tokutsu, Yu Sugiyama, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Realization of Daily-life Supporting Behavior for Humanoids by Integration between Sound Recognition and Action Planning,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D24, 2006.
[22] Mitsuharu Kojima, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Texture modeling of room environment by looking around behavior of humanoid robot,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D25, 2006.
[23] Kenji Sato, Kei Okada, Masayuki Inaba:
Humanoids°« daily life support actions using image processing that,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D26, 2006.
[24] Mitsuharu Kojima, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Humanoid robot that observes handed rotation symmetry object and generates appearance model,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D27, 2006.
[25] Ikuo Mizuuchi, Tomoaki Yoshikai, Tamaki Nishino, Yoshinao Sodeyama, Yuto Nakanishi, Yuta Namiki, Masayuki Inaba:
An Autonomous Reactive System for Robots with Multiple Actuators and Sensors,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D28, 2006.
[26] Yuta Namiki, Yoshinao Sodeyama, Yuto Nakanishi, Tomoaki Yoshikai, Ikuo Mizuuchi, Tetsunari Inamura, Masayuki Inaba:
Realization of a Musculo-skeletal Humanoid°«s Pitching Motion,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D35, 2006.
[27] Tamaki Nishino, Yoshinao Sodeyama, Tomoaki Yoshikai, Ikuo Mizuuchi, Tetsunari Inamura, Masayuki Inaba:
A Visually Guided Reaching Behavior by a Musculoskeletal Humanoid,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D36, 2006.
[28] Yuto Nakanishi, Tomoaki Yoshikai, Ikuo Mizuuchi, Tamaki Nishino, Tetsunari Inamura, Masayuki Inaba:
Tendon Arrangement Based on Joint Torque Requirements for a Reinforceable Musculo-Skeletal Humanoid,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D37, 2006.
[29] Yoshinao Sodeyama, Tamaki Nishino, Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki Inaba:
A Generation Method of Shoulder Motions on the Basis of Geometry Constraints in A Musculo-skeletal Humanoid with Bladebone-collarbone Structures,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D38, 2006.
[30] Ryusuke Adachi, Shigeru Kanzaki, Kei Okada, Masayuki Inaba:
Load Distributing Whole-Body Motion Modification Method for Humanoids in Environment Contacting Motion with Arm/Leg Coordination,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-D39, 2006.
[31] Tomoaki Yoshikai, Yuto Nakanishi, Ikuo Mizuuchi, Masayuki Inaba:
Learning Mechanism for Adapting Function Based on an Evaluation of the Muscle Loads in Pedaling a cycle with Musculo-skeletal Humanoid.,
in 2006 JSME Conference on Robotics and Mechatronics, 2A1-E21, 2006.

[32] Satoru Tokutsu, Yu Sugiyama, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
Sound Source Recognition And Localization Based on Cepstrum for Humanoids,
in The 24th Annual Conference on Robotics Society of Japan, 1B15, 2006.
[33] Ikuo Mizuuchi, Tamaki Nishino, Kei Okada, Tomoaki Yoshikai, Masayuki Inaba:
Introduction of NURBS Representation to the EusLisp Geometric Model,
in The 24th Annual Conference on Robotics Society of Japan, 1D21, 2006.
[34] Junya Fujimoto, Kei Okada, Masayuki Inaba:
Spatially Expanded IK to Search Reaching Method and Location of Humanoids,
in The 24th Annual Conference on Robotics Society of Japan, 1H12, 2006.
[35] Kei Okada, Mitsuharu Kojima, Yuichi Sagawa, Toshiyuki Ichino, Masayuki Inaba:
Integrated humanoid system with multimodal behavior verification,
in The 24th Annual Conference on Robotics Society of Japan, 1H13, 2006.
[36] Naoki Kojo, Tetsunari Inamura, Kei Okada, Masayuki Inaba:
Gesture Recognition by Humanoid robots using Proto-symbol Space,
in The 24th Annual Conference on Robotics Society of Japan, 1M11, 2006.
[37] Mitsuharu Kojima, Kei Okada, Masayuki Inaba:
Humanoid robot that observe, memorize handed objects and recognize them,
in The 24th Annual Conference on Robotics Society of Japan, 1H23, 2006.
[38] Yu Sugiyama, Satoru Tokutsu, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
An audio-visual memory system for attention control for humanoids,
in The 24th Annual Conference on Robotics Society of Japan, 1H24, 2006.
[39] Takashi Ogura, Kei Okada, Masayuki Inaba:
Cutting Vegetables Tasks by Humanoid Robot using Vision and Force Sensors,
in The 24th Annual Conference on Robotics Society of Japan, 1H25, 2006.
[40] Tetsunari Inamura, Naoki Kojo, Naotaka Hatao, Satoru Tokutsu, Junya Fujimoto, Tomoyuki Sonoda, Kei Okada, Masayuki Inaba:
Realization of trash separation of bottles and cans for humanoids using eyes, hands and ears,
in The 24th Annual Conference on Robotics Society of Japan, 1H26, 2006.
[41] Kazuyuki Sakamoto, Tomoyuki Sonoda, Shigeru Kanzaki, Tetsunari Inamura, Kei Okada, Ikuo Mizuuchi, Masayuki Inaba:
Motion Capture by wireless gyro sensor suits and its application to robot,
in The 24th Annual Conference on Robotics Society of Japan, 1M25, 2006.
[42] Naotaka Hatao, Atsushi Haneda, Naoki Kojo, Kei Okada, Tetsunari Inamura, Masayuki Inaba:
3D Mapping and Path Planning System in Unknown Environments for Mobile Robots,
in The 24th Annual Conference on Robotics Society of Japan, 1E32, 2006.
[43] Takashi Ogura, Kei Okada, Masayuki Inaba:
EusDyna: Interactive Dynamics Simulation Robot Programing Environment by Micro-Kernel Simulation Method,
in The 24th Annual Conference on Robotics Society of Japan, 1H31, 2006.
[44] Atsushi Haneda, Kei Okada, Masayuki Inaba:
Development of Interactive Humanoid Robots Simualtor based on Python,
in The 24th Annual Conference on Robotics Society of Japan, 1H32, 2006.
[45] Ikuo Mizuuchi, Yuto Nakanishi, Tomoaki Yoshikai, Yoshinao Sodeyama, Yuta Namiki, Tamaki Nishino, Junichi Urata, Masayuki Inaba:
Realization of Standing Posture by Reinforcing Muscles to the Musculoskeletal Humanoid Kotaro,
in The 24th Annual Conference on Robotics Society of Japan, 2H11, 2006.
[46] Naoya Muramatsu, Tomoaki Yoshikai, Tamaki Nishino, Ikuo Mizuuchi, Masayuki Inaba:
Realization of Crank Rotation with a Flexible Spine by Musculo-Skeletal Humanoid Kotaro,
in The 24th Annual Conference on Robotics Society of Japan, 2H12, 2006.
[47] Yuto Nakanishi, Yuta Namiki, Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki Inaba:
Varied Viscoelasticity Musculo-Skeletal Humanoids by Adding Passive Muscles,
in The 24th Annual Conference on Robotics Society of Japan, 2H13, 2006.
[48] Marika HAYASHI, Toshiaki MAKI, Yui ISHIZAKA, Shigeru KANZAKI, Tomoaki YOSHIKAI, Masayuki INABA:
Development of Humanoid Robot with Polyurethane Foam Flesh and Tactile,
in The 24th Annual Conference on Robotics Society of Japan, 2H14, 2006.
[49] Kei Okada, Kunihiko Yamamoto, Kenji Sato, Jyunya Fujimoto, Mitsuharu Kojima, Takashi Ogura, Marika Hayashi, Tamaki Nishino, Ikuo Mizuuchi, Masayuki Inaba:
Developmental Design of Hand Module for Humanoid Robot Platform,
in The 24th Annual Conference on Robotics Society of Japan, 2H15, 2006.
[50] Kunihiko Yamamoto, Kei Okada, Masayuki Inaba:
Development of Robot Hand for Humanoid with Proximity-Tactile Sensors,
in The 24th Annual Conference on Robotics Society of Japan, 2H16, 2006.
[51] Masayuki Inaba:
Robot Systems Research in the IRT Innovation Project,
in The 24th Annual Conference on Robotics Society of Japan, 2M13, 2006.
[52] Tomoyuki SONODA, Tomohiro KAWAJI, Tetsunari INAMURA, Masayuki INABA:
Belief Networks for Task Achievement based on Dialogue with Humans,
in The 24th Annual Conference on Robotics Society of Japan, 2D23, 2006.
[53] Hiroaki Yaguchi, Kei Okada, Masayuki Inaba:
A Research of a Method of Visual Odometry using Stereo Vision for Humanoid,
in The 24th Annual Conference on Robotics Society of Japan, 2E26, 2006.
[54] Junichi Urata, Tomoaki Yoshikai, Masayuki Inaba:
Resistance Control System of SMA for a Redandunt Micro Tendon-driven Robot,
in The 24th Annual Conference on Robotics Society of Japan, 3A11, 2006.
[55] Yuta Namiki, Yuto Nakanishi, Tomoaki Yoshikai, Ikuo Mizuuchi, Masayuki Inaba:
Realiztion of Flexible Spine°«s Sitting Up by Elastic Rubber and Adding Muscles,
in The 24th Annual Conference on Robotics Society of Japan, 3A14, 2006.
[56] Shigeru Kanzaki, Kei Okada, Masayuki Inaba:
Adaptive Bracing Behavior using Experience based Reference ZMP Modification,
in The 24th Annual Conference on Robotics Society of Japan, 3H24, 2006.
[57] Yoshinao Sodeyama, Takashi Ogura, Tomoaki Yoshikai, Kei Okada, Ikuo Mizuuchi, Masayuki Inaba:
An Approach for a Task of Rubbing Human Back Dry with a Towel by a Humanoid,
in The 24th Annual Conference on Robotics Society of Japan, 3H31, 2006.
[58] Tomoaki Yoshikai, Ikuo Mizuuchi, Marika Hayashi, Naoya Muramatsu, Masayuki Inaba:
Analysis system for correlations with time context in humanoid°«s body,
in The 24th Annual Conference on Robotics Society of Japan, 3H33, 2006.

[59] Ikuo Mizuuchi:
A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 years' time,
Mobile Robots - Towards New Applications, pp.45-56, 2006.
[60] Ikuo Mizuuchi, Yuto Nakanishi, Tomoaki Yoshikai, Masayuki Inaba, Hirochika Inoue:
Body Information Acquisition System of Redundant Musculo-Skeletal Humanoid,
Experimental Robotics IX, Vol.9, pp.249-258, Springer, 2006.
[61] Ikuo Mizuuchi:
Super Multi-DOF Flexible-Spine Musculoskeletal Humanoid : Kotaro,
Journal of Robotics Society of Japan, Vol.24, No.2, pp.44, 2006.

[62] Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Yuto Mori, Toshiaki Maki, Masayuki Inaba:
Vision based behavior verification system of humanoid robot for daily environment tasks,
Best Paper Awards, ICHR2006, 2006.12.5.
[63] Tsuyoshi Horo:
Deen Awards,
Graduate School of Information Science and Technology, The University of Tokyo, 2007.3.