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[1] T. Inamura, K. Okada, S. Tokutsu, N. Hatao, M. Inaba, H. Inoue:
HRP-2W:A humanoid platform for research on support behavior in daily life environments,
Robotics and Autonomous Systems, Vol.57, No., pp.145--154, 2009.
[2] Kei Okada:
{An Application of the Image Processing Device Module to Humanoid,
Journal of Robotics Society of Japan, Vol.28, No.2, pp.19, 2009.
[3] Kei Okada, Mitsuharu Kojima, Satoru Tokutsu, Yuto Mori, Toshiaki Maki, Masayuki Inaba:
Integrating Recognition and Action Through Task-Relevant Knowledge for Daily Assistive Humanoids,
Advanced Robotics, Vol.23, No.4, pp.459--480, 2009.
[4] Hiroaki Yaguchi, Nikolaus Zaoputra, Naotaka Hatao, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba:
View-based Localization Using Head-Mounted Multi Sensors Information,
Journal of Robotics and Mechatronics, Vol.21, No.3, pp.376--383, 2009.
[5] Tomoaki Yoshikai, Marika Hayashi, Ikuo Mizuuchi, Masayuki Inaba:
Autonomous Behavior Integration System with Parallel Evaluating Monitors for Humanoid Robots,
Journal of Robotics Society of Japan, Vol.28, No.1, pp.85--94, 2009.

[6] Ikuo Mizuuchi, Junya Fujimoto, Kunihiko Yamamoto, Yoshinao Sodeyama, Naoya Muramatsu, Shigeki Ohta, Kazuo Hongo, Tosihiro Hirose, Masayuki Inaba:
A Kitchen Assistant Robot with a Variety of Sensors Embedded in the Hand to Clear Away Dishes,
in First International Symposium on Quality of Life Technology, K, 2009.
[7] Kimitoshi Yamazaki, Ryohei Ueda, Shunichi Nozawa, Yuto Mori, Toshiaki Maki, Naotaka Hatao, Kei Okada, Masayuki Inaba:
A Demonstrative Research for Daily Assistive Robots on Tasks of Cleaning and Tidying up Rooms,
in First International Symposium on Quality of Life Technology, J, 2009.
[8] Hiroaki Yaguchi, Kei Okada, Masayuki Inaba:
Solid Model Construction in Daily-Life Environment Using Head-Mounted 3D Multi Sensor,
in First International Symposium on Quality of Life Technology, G, 2009.
[9] Kimitoshi Yamazaki, Masayuki Inaba:
A Cloth Detection Method Based on Wrinkle Features for daily Assistive Robots,
in IAPR International Conference on Machine Vision and Applications, pp.366--369, 2009.
[10] Kazuo Hongo, Mariko Yoshida, Yuto Nakanishi, Ikuo Mizuuchi, Masayuki Inaba:
Development of Bilateral Wearable Device ''Kento'' for Control Robots using Muscle Actuator Modules,
in 18th IEEE International Symposium on Robot and Human Interactive Communication, pp.897--902, 2009.
[11] Satoru Tokutsu, Kei Okada, Masayuki Inaba:
Environment Situation Reasoning Integrating Human Recognition and Life Sound Recognition using DBN,
in 18th IEEE International Symposium on Robot and Human Interactive Communication, pp.744--750, 2009.
[12] Naotaka Hatao, Ryo Hanai, Kimitoshi Yamazaki, Masayuki Inaba:
Real-Time Navigation for a Personal Mobility Robot in a Environment with Pedestrians,
in 18th IEEE International Symposium on Robot and Human Interactive Communication, pp.619--626, 2009.
[13] Junya Fujimoto, Ikuo Mizuuchi, Yoshinao Sodeyama, Kunihiko Yamamoto, Naoya Muramatsu, Shigeki Ohta, Toshinori Hirose, Kazuo Hongo, Kei Okada, Masayuki Inaba:
Picking up Dishes based on Active Groping with Multisensory Robot Hand,
in 18th IEEE International Symposium on Robot and Human Interactive Communication, pp.220--225, 2009.
[14] Asuka Kadowaki, Tomoaki Yoshikai, Marika Hayashi, Masayuki Inaba:
Development of Soft Sensor Exterior Embedded with Multi-axis Deformable Tactile Sensor System,
in 18th IEEE International Symposium on Robot and Human Interactive Communication, pp.1093--1098, 2009.
[15] Tomoaki Yoshikai, Marika Hayashi, Asuka Kadowaki, Takefumi Goto, Masayuki Inaba:
Design and Development of a Humanoid with Soft 3D-Deformable Sensor Flesh and Automatic Recoverable Mechanical Overload Protection Mechanism,
in Proceedings of The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4977--4983, 2009.
[16] Hiroaki Yaguchi, Kei Okada, Masayuki Inaba:
Head-Mounted 3D Multi Sensor System for Modeling in Daily-Life Environment,
in Proceedings of The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5585--5590, 2009.
[17] Kazuya Kobayashi, Nobuyuki Ito, Ikuo Mizuuchi, Kei Okada, Masayuki Inaba:
Design and Realization of Fingertiped and Multifingered Hand for Pinching and Rolling Minute Objects,
in Proceedings of the 2009 IEEE-RAS International Conference on Humanoid Robots, pp.263--268, 2009.
[18] Tomoaki Yoshikai, Hiroko Fukushima, Marika Hayashi, Masayuki Inaba:
Development of Soft Stretchable Knit Sensor for Humanoids' Whole-body Tactile Sensibility,
in Proceedings of the 2009 IEEE-RAS International Conference on Humanoid Robots, pp.624--631, 2009.

[19] Kazuo Hongo, Mariko Yoshida, Yuto Nakanishi, Ikuo Mizuuchi, Masayuki Inaba:
Development of Bilateral Wearable Device for Control Robots using Muscle Actuator Modules,
in 2009 JSME Conference on Robotics and Mechatronics, 1P1-F07, 2009.
[20] Kazuo Hongo, Ikuo Mizuuchi, Masayuki Inaba:
Development of Muscle Type Actuator Module and Verification of Effect of the Addtion,
in 2009 JSME Conference on Robotics and Mechatronics, 2P1-G17, 2009.
[21] Satoru Tokutsu, Mitsuharu Kojima, Kei Okada, Masayuki Inaba:
Detection and Feature Acquisition of Attention Objects in Pouring Behavior by Humanoid,
in 2009 JSME Conference on Robotics and Mechatronics, 2A1-E06, 2009.
[22] Shota Shirayama, Ryusuke Ueki, Mitsuharu Kojima, Yoshinao Sodeyama, Kei Okada, Masayuki Inaba:
Implementation of the active stereo vision system with both of wide vision and high visual acuity for care system,
in 2009 JSME Conference on Robotics and Mechatronics, 1P1-C14, 2009.
[23] Shota Shirayama, Ryusuke Ueki, Mitsuharu Kojima, Yoshinao Sodeyama, Kei Okada, Masayuki Inaba:
Registering and searching objects by using the active stereo vision system with both of wide vision and high visual acuity,
in 2009 JSME Conference on Robotics and Mechatronics, 1P1-C15, 2009.
[24] Toshinori Hirose, Ikuo Mizuuchi, Masayuki Inaba:
Development of life environment observing system using RT-Middleware,
in 2009 JSME Conference on Robotics and Mechatronics, 2A1-C17, 2009.
[25] Takefumi Goto, Tomoaki Yoshikai, Syota Shirayama, Ryusuke Ueki, Masayuki Inaba:
Stabilization of Camera View by Estimating the Camera Oscillation°°Based on a Local Correlation Matching Algorithm,
in 2009 JSME Conference on Robotics and Mechatronics, 1P1-C15, 2009.
[26] Asuka Kadowaki, Tomoaki Yoshikai, Kei Okada, Masayuki Inaba:
Multi-robot system with the ZigBee module,
in 2009 JSME Conference on Robotics and Mechatronics, 2A2-J01, 2009.
[27] Tomoaki Yoshikai, Marika Hayashi, Asuka Kadowaki, Ryohei Ueda, Masayuki Inaba:
Design and Development of a Humanoid with Soft Sensor Flesh and Automatic Recoverable Mechanical Overload Protection Mechanism,
in 2009 JSME Conference on Robotics and Mechatronics, 2A1-E04, 2009.
[28] Tomoaki Yoshikai, Marika Hayashi, Masayuki Inaba:
Parallel Behavior System Coordinated by Various Motivational Factors for Close Interaction Behavior,
in 2009 JSME Conference on Robotics and Mechatronics, 2A1-E03, 2009.
[29] Marika Hayashi, Tomoaki Yoshikai, Masayuki Inaba:
Impression Design and its Effect Based on an Appearance Feature Extraction of Robots Focused on °…Flesh°…,
in 2009 JSME Conference on Robotics and Mechatronics, 1P1-E10, 2009.
[30] Kimitoshi Yamazaki, Masayuki Inaba:
Trajectory Control of a Mobile Robot by Using Virtual Arms,
in 2009 JSME Conference on Robotics and Mechatronics, 2A1-F19, 2009.
[31] Naotaka Hatao, Ryo Hanai, Kimitoshi Yamazaki, Masayuki Inaba:
Real Time Navigation in Dynamic Environments for the Two-Wheeled Inverted Mobile Robot PMR,
in 2009 JSME Conference on Robotics and Mechatronics, 2P1-F07, 2009.
[32] Nobuyuki Ito, Ryohei Ueda, Junichi Urata, Yuto Nakanishi, Kei Okada, Ikuo Mizuuchi, Masayuki Inaba:
Design and realization of humanoid robots' hand for slip control,
in 2009 JSME Conference on Robotics and Mechatronics, 2A2-C06, 2009.
[33] Kazuya Kobayashi, Nobuyuki Ito, Ikuo Mizuuchi, Masayuki Inaba:
Design and Realization of fingertiped and multifingered hand for pinching and rolling minute objects,
in 2009 JSME Conference on Robotics and Mechatronics, 2A2-B10, 2009.
[34] Ryohei Ueda, Shunnichi Nozawa, Yuto Mori, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba:
Structual Description for Error Detection and Recovery in Task Sequece of Home Assistance by Life-size Humanoid Robot,
in 2009 JSME Conference on Robotics and Mechatronics, 1P1-D04, 2009.

[37] Kazuo Hongo, Yuto Nakanishi, Ikuo Mizuuchi, Masayuki Inaba:
Muscle Layout Estimation Method Based on Nonlinearity of Tendon-Driven Robots,
in The 27th Annual Conference on Robotics Society of Japan, 1P1-02, 2009.
[38] Hiroko KOBORI, Kei OKADA, Masayuki INABA:
Detect Grasp Point and Verification by Clothes 3D Figure for Cleaning up by Humanoid,
in The 27th Annual Conference on Robotics Society of Japan, 2S1-01, 2009.
[39] Kazuya Kobayashi, Syunnichi Nozawa, Kei Okada, Masayuki Inaba:
Robot Hand with Fingertips for Pinching and Rolling Object by Humanoid,
in The 27th Annual Conference on Robotics Society of Japan, 2S1-02, 2009.
[40] Mitsuharu KOJIMA, Shota SHIRAYAMA, Ryusuke UEKI, Kei OKADA, Masayuki INABA:
Recognition and Recording of Human Access to a Shelf by a Care Assit Robot with Cameras with Multi Varaible Views,
in The 27th Annual Conference on Robotics Society of Japan, 1R3-05, 2009.
[41] Shunichi NOZAWA, Ryohei UEDA, Toshiaki MAKI, Kei OKADA, Masayuki INABA:
Force Momentum Control for Lifting-up Motion of a Weight-unkown Object by a Humanoid,
in The 27th Annual Conference on Robotics Society of Japan, IS1-04, 2009.
[42] Tsukasa ITO, Kei OKADA, Masayuki INABA:
Realization of interactive grasping benavior, based on graspable primitive shape recognition and windowing interface,
in The 27th Annual Conference on Robotics Society of Japan, 2S1-05, 2009.
[43] Kei OKADA, Shunnichi NOZAWA, Ryohei UEDA, Yoshiaki WATANABE, Satoru TOKUTSU, Masayuki INABA:
Sensor based Motion Modification on Recognition Behavior Task Planning System capable of Recovery from Failure,
in The 27th Annual Conference on Robotics Society of Japan, 1L3-04, 2009.
[44] Tomoaki Yoshikai, Hiroaki Yaguchi, Kunihiko Yamamoto, Ryusuke Ueki, Takefumi Goto, Masayuki Inaba:
Development for mobility intelligence of humanoid robots based on dynamic visual recognition realized by embedded visual recognition hardware,
in The 27th Annual Conference on Robotics Society of Japan, 2D1-07, 2009.
[45] Tomoaki Yoshikai, Masayuki Inaba:
Development of 4-axis Soft Deformable Sensor Unit Measuring Direct Posture Change,
in The 27th Annual Conference on Robotics Society of Japan, 3I2-02, 2009.
[46] Kimitoshi YAMAZAKI, Masayuki INABA:
A Cloth Detection Method Based on Wrinkle Features,
in The 27th Annual Conference on Robotics Society of Japan, 2R1-05, 2009.
[47] Kimitoshi YAMAZAKI, Shunichi NOZAWA, Ryohei UEDA, Toshiaki MAKI, Yuto MORI, Kei OKADA, Kiyoshi MATSUMOTO, Masayuki INABA:
Remenberance and Tidying Supports by Homemaking Assistant Robots with Daily-Commodities Database,
in The 27th Annual Conference on Robotics Society of Japan, 2E2-05, 2009.
[48] Hiroaki YAGUCHI, Kei OKADA, Masayuki INABA:
Model matching and 3D Pose Estimation Method using High-speeded Texture Image Search,
in The 27th Annual Conference on Robotics Society of Japan, 2R1-07, 2009.
[49] Hiroaki YAGUCHI, Kei OKADA, Masayuki INABA:
A Research of Model Construction in Daily-life Environment using Head-mounted Multi Sensors,
in The 27th Annual Conference on Robotics Society of Japan, 2I2-03, 2009.
[50] Yuto NAKANISHI, Takuma SHIRAI, Masayuki INABA:
Joint Proprioception Acquisition Strategy Based on Joints-Muscles Topological Maps for Musculoskeletal Humanoids,
in The 27th Annual Conference on Robotics Society of Japan, 1S1-02, 2009.
[51] Hiroko Fukushima, Tomoaki Yoshikai, Marika hayashi, Masayuki Inaba:
Development of Cardigan Type Tactile Sensor Exterior for Small Humanoid by Soft Stretchable Knit Sensor Able to Detect Stroke,
in The 27th Annual Conference on Robotics Society of Japan, 3I2-03, 2009.
[52] Yoshiaki Watanabe, Kimitoshi Yamazaki, Kei Okada, Masayuki Inaba:
Cooking Action of Humanoid Robot,
in The 27th Annual Conference on Robotics Society of Japan, 3S3-05, 2009.
[53] Kobayashi Takumi, Yuto Nakanishi, Kazuo Hongo, Takuma Shirai, Ikuo Mizuuchi, Masayuki Inaba:
Realization of Stepping by Leaning of Trial and Error on a Musculo-Skeletal Humanoid,
in The 27th Annual Conference on Robotics Society of Japan, 1S1-01, 2009.
[54] Yohei KAKIUCHI, Kei OKADA, Masayuki INABA:
Rolling over motion for humanoid with whole-body distributed tactile sensors,
in The 27th Annual Conference on Robotics Society of Japan, 1S1-06, 2009.
[55] Yohei KAKIUCHI, Tamon IZAWA, Kei OKADA, Masayuki INABA:
Recognition and Behavior System for Human Interactive Robot HIRO,
in The 27th Annual Conference on Robotics Society of Japan, 3I2-04, 2009.
[56] Kotaro Nagahama, Shunichi NOZAWA, Ryohei UEDA, and Kei OKADA, Masayuki INABA:
Recognition of Point of Action and Whole Body Motion for Assistive Humanoid's Imitation,
in The 27th Annual Conference on Robotics Society of Japan, 1S1-05, 2009.
[57] Shota SHIRAYAMA, Ryusuke UEKI, Mitsuharu KOJIMA Satoru TOKUTSU, Tomoaki YOSHIKAI, Kei OKADA, Masayuki INABA:
Development of Humanoid robot ``HRP2-VZ'' with Active Wide-and-Zoom Stereo and Adaptable Gaze Control,
in The 27th Annual Conference on Robotics Society of Japan, 1S3-08, 2009.
[58] Shota SHIRAYAMA, Ryusuke UEKI, Mitsuharu KOJIMA Satoru TOKUTSU, Tomoaki YOSHIKAI, Kei OKADA, Masayuki INABA:
Daily Goods Management with Show-and-Store Behavior by The Humanoid Robot with Active Wide-and-Zoom Stereo,
in The 27th Annual Conference on Robotics Society of Japan, 2S1-04, 2009.
[59] Ryusuke UEKI, Shota SHIRAYAMA, Mitsuharu KOJIMA, Takefumi GOTO, Tomoaki YOSHIKAI, Kei OKADA, Masayuki INABA:
Development and Gaze Control of a humanoid head with five cameras and Image Recognition Module,
in The 27th Annual Conference on Robotics Society of Japan, 2D1-09, 2009.
[60] Ryohei Ueda, Shunichi Nozawa, Kei Okada, Masayuki Inaba:
Push Strategy for Grasping Object on Manipulation and View Point Planning by Humanoid,
in The 27th Annual Conference on Robotics Society of Japan, C1S2-07, 2009.

[61] Masayuki INABA:
IRT Foundation for Human and Aging Society,
in Proceedings of the 10th SICE System Integration Division Annual Conference, 2G1-1, 2009.
[62] Takuma Shirai, Takumi Kobayashi, Kazuo Hongo, Shigeki Ohta, Yuuto Nakanish, Ikuo Mizuuchi, Masayuki INABA:
Adaptive Motion of Musculo-Skeletal Humanoid based on Muscle Length and Tension Control,
in Proceedings of the 10th SICE System Integration Division Annual Conference, 1H1-1, 2009.


[63] Kazuo Hongo, Mariko Yoshida, Yuto Nakanishi, Ikuo Mizuuchi, Masayuki Inaba:
Development of Bilateral Wearable Device for Control Robots using Muscle Actuator Modules,
JSME Fellow Award for Outstanding Young Engineers, ROBOMEC2009, 2009.