Selected papers

Journal papers
  1. Xuan Xiao and Fumihiko Asano, "Analysis of steady and target walking speeds in limit cycle walking," International Journal of Dynamics and Control, in press, doi: 10.1007/s40435-015-0212-z
  2. Fumihiko Asano, "A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking," Multibody System Dynamics, published as an online first view article. doi:10.1007/s11044-015-9479-2
  3. Fumihiko Asano, "Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture," Multibody System Dynamics, Vol. 35, Iss. 2, pp. 191-213, Oct. 2015.
  4. Fumihiko Asano and Isao Tokuda, "Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion," Multibody System Dynamics, Vol. 34, Iss. 2, pp. 191-210, June 2015.
  5. Fumihiko Asano, "Stability analysis of underactuated compass gait based on linearization of motion," Multibody System Dynamics, Vol. 33, Iss. 1, pp. 93-111, Jan. 2015.
  6. Fumihiko Asano, Yasunori Kikuchi and Masahiro Shibata, "Modeling, control and analysis of limit cycle walking on slippery road surface," International Journal of Dynamics and Control, Vol. 2, Iss. 4, pp. 463-473, Dec. 2014.
  7. Yuji Harata, Koji Iwano, Fumihiko Asano and Takashi Ikeda, "Efficiency analysis of two-period asymmetric gaits," International Journal of Dynamics and Control, Vol. 2, Iss. 3, pp. 304-313, Sep. 2014.
  8. Fumihiko Asano and Junji Kawamoto, "Modeling and analysis of passive viscoelastic-legged rimless wheel that generates measurable period of double-limb support," Multibody System Dynamics, Vol. 31, Iss. 2, pp. 111-126, Feb. 2014. [ Download ]
  9. Fumihiko Asano, "Robust pseudo virtual passive dynamic walking with control of swing-leg retraction," Multibody System Dynamics, Vol. 30, Iss. 4, pp. 377-395, Dec. 2013. [ Download ]
  10. Fumihiko Asano, "High-speed dynamic gait generation for limit cycle walkers based on forward-tilting impact posture," Multibody System Dynamics, Vol. 30, Iss. 3, pp. 287-310, Oct. 2013. [ Download ]
  11. Fumihiko Asano and Masashi Suguro, "Limit cycle walking, running, and skipping of telescopic-legged rimless wheel," Robotica, Vol. 30, Issue 6, pp. 989-1003, 2012. [ Download ]
  12. Fumihiko Asano, "Efficiency and optimality of two-period limit cycle walking," Advanced Robotics, Vol. 26, No. 1-2, pp. 155-176, Jan. 2012. [ Download ]
  13. Yuji Harata, Fumihiko Asano, Kouichi Taji and Yoji Uno, "Efficient parametric excitation walking with delayed feedback control," Nonlinear Dynamics, Vol. 67, Issue 2, pp. 1327-1335, Jan. 2012. [ Download ]
  14. Yuji Harata, Fumihiko Asano, Kouichi Taji and Yoji Uno, "Parametric excitation-based inverse bending gait generation," Robotica, Vol. 29, Issue 6, pp. 831-841, Oct. 2011. [ Download ]
  15. Fumihiko Asano and Zhi-Wei Luo, "Efficient dynamic bipedal walking using effects of semicircular feet," Robotica, Vol. 29, Issue 3, pp. 351-365, 2011. [ Download ]
  16. Takeshi Hayashi, Kazuaki Kaneko, Fumihiko Asano and Zhi-Wei Luo, "Experimental study of dynamic bipedal walking based on the principle of parametric excitation with counterweights," Advanced Robotics, Vol. 25, No. 1-2, pp. 273-287, 2011. [ Download ]
  17. Yuji Harata, Fumihiko Asano, Zhi-Wei Luo, Kouichi Taji and Yoji Uno, "Biped gait generation based on parametric excitation by knee-joint actuation," Robotica, Vol. 27, No. 7, pp. 1063-1073, Dec. 2009. [ Download ]
  18. Fumihiko Asano and Zhi-Wei Luo, "Asymptotically stable biped gait generation based on stability principle of rimless wheel," Robotica, Vol. 27, No. 6, pp. 949-958, Oct. 2009. [ Download ]
  19. Fumihiko Asano and Zhi-Wei Luo, "Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation," IEEE Transactions on Robotics, Vol. 24, No. 6, pp. 1289-1301, Dec. 2008. [ Download ]
  20. Fumihiko Asano, Zhi-Wei Luo, Masaki Yamakita and Shigeyuki Hosoe, "Modeling and bio-mimetic control for whole arm dynamic cooperative manipulation," Advanced Robotics, Vol. 19, No. 9, pp. 929-950, Nov. 2005.
  21. Fumihiko Asano, Zhi-Wei Luo and Masaki Yamakita, "Biped gait generation and control based on a unified property of passive dynamic walking," IEEE Transactions on Robotics, Vol. 21, No. 4, pp. 754-762, Aug. 2005.
  22. Fumihiko Asano, Masaki Yamakita, Norihiro Kamamichi and Zhi-Wei Luo, "A novel gait generation for biped walking robots based on mechanical energy constraint," IEEE Transactions on Robotics and Automation, Vol. 20, No. 3, pp. 565-573, June 2004.
  23. Fumihiko Asano and Masaki Yamakita, "Virtual gravity and coupling control for robotic gait synthesis," IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans, Vol. 31, No. 6, pp. 737-745, Dec. 2001.
  24. Masaki Yamakita and Fumihiko Asano, "Extended passive velocity field control with variable velocity fields for a kneed biped," Advanced Robotics, Vol. 15, No. 2, pp. 139-168, 2001.

Reviewed conference papers (2009-)
  1. Xuan Xiao and Fumihiko Asano, "Analytical solution of target steady walking speed in 1-DOF limit cycle walking," Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 4525-4531, May 29, 2015.
  2. Yuta Hanazawa and Fumihiko Asano, "High-speed biped walking using swinging-arms based on principle of up-and-down wobbling mass," Proceedings of the 2015 IEEE International Conference on Robotics and Automation, pp. 5191-5196, May 29, 2015.
  3. Terumitsu Hayashi, Masaki Yamakita, Yuta Hanazawa and Fumihiko Asano, "Robust walking of biped robot on uneven terrain using effect of wobbling mass," Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, pp. 2080-2085, Dec. 9, 2014.
  4. Yuta Hanazawa and Fumihiko Asano, "Speeding-up method for biped limit cycle walking using asymmetric swing-leg motion," Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics, pp. 2086-2091, Dec. 9, 2014.
  5. Xuan Xiao, Yasunori Kikuchi, Fumihiko Asano and Tetsuro Fujimoto, "Limit cycle walking of underactuated bipedal humanoid on slippery road surface," Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots, pp. 622-627, Nov. 20, 2014.
  6. Xuan Xiao and Fumihiko Asano, "Approximate solution of steady step period in one-period limit cycle walking based on discretization of control input," Proceedings of the 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 585-590, Nov. 14, 2014.
  7. Kazuki Tamura and Fumihiko Asano, "Whole arm manipulation with effects of static and dynamic friction on body surface," Proceedings of the 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 273-278, Nov. 13, 2014.
  8. Fumihiko Asano, Isao Tokuda and Yukihiro Akutsu, "Analysis of wobbling mass as shock-absorber in limit cycle walking and its application to micro vibration modeling," Proceedings of the 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 224-229, Nov. 13, 2014.
  9. Yukihiro Akutsu, Fumihiko Asano and Isao Tokuda, "Passive dynamic walking of compass-like biped robot with dynamic absorbers," Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4855-4860, Sep. 17, 2014.
  10. Xuan Xiao and Fumihiko Asano, "Analytical solution of steady step period in 1-dof limit cycle walking driven by stepwise control inputs," Proceedings of the 2014 IEEE International Conference on Mechatronics and Automation, pp. 245-250, Aug. 4, 2014.
  11. Fumihiko Asano, "Stability analysis method independent of numerical integration for limit cycle walking with constraint on impact posture," Proceedings of the 2014 IEEE International Conference on Robotics and Automation, pp. 4647-4652, June 4, 2014.
  12. Yuta Hanazawa, Terumitsu Hayashi, Masaki Yamakita and Fumihiko Asano, "High-speed limit cycle walking for biped robots using active up-and-down motion control of wobbling mass," Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3649-3654, Nov. 5, 2013.
  13. Masataka Ohshima and Fumihiko Asano, "Stability and efficiency of underactuated bipedal walker that generates non-instantaneous double-limb support motion," Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3624-3629, Nov. 5, 2013.
  14. Fumihiko Asano, Yasunori Kikuchi and Masahiro Shibata, "Limit cycle walking on ice," Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3132-3137, Nov. 5, 2013.
  15. Fumihiko Asano, Takahiro Sogawa, Kazuki Tamura, Yukihiro Akutsu, "Passive dynamic walking of rimless wheel with 2-DOF wobbling mass," Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3120-3125, Nov. 5, 2013.
  16. Fumihiko Asano, "Analytical solution to transition function of state error in 1-DOF semi-passive dynamic walking," Proceedings of the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3114-3119, Nov. 5, 2013.
  17. Xuan Xiao and Fumihiko Asano, "Limit cycle walker that forms various impact postures using mid-body," Proceedings of the 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 571-576, Nov. 1, 2013.
  18. Fumihiko Asano, Yukihiro Akutsu and Isao Tokuda, "Gait control of combined rimless wheel using active wobbling mass that vibrates backward and forward," Proceedings of the 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), pp. 340-345, Oct. 31, 2013.
  19. Fumihiko Asano and Isao Tokuda, "Speeding-up of passive combined rimless wheel using active wobbling mass," Proceedings of the 2013 IEEE International Conference on Mechatronics and Automation, pp. 1003-1009, Aug. 6, 2013.
  20. Fumihiko Asano and Xuan Xiao, "Role of deceleration effect in efficient and fast convergent gait generation," Proceedings of the 2013 IEEE International Conference on Robotics and Automation, pp. 5649-5654, May 9, 2013.
  21. Masataka Ohshima and Fumihiko Asano, "Underactuated bipedal walking with knees that generates measurable period of double-limb support," Proceedings of the 2013 IEEE International Conference on Robotics and Automation, pp. 5643-5648, May 9, 2013.
  22. Fumihiko Asano and Xuan Xiao, "Output deadbeat control approaches to fast convergent gait generation of underactuated spoked walker," Proceedings of the 2012 IEEE/SICE International Symposium on System Integration (SII), pp. 265-270, Dec. 16, 2012.
  23. Yuji Harata and Fumihiko Asano, "Asymptotically stable and deadbeat gait generation of four-linked bipedal walker by adjustment control of heel strike posture," Proceedings of the 2012 12th IEEE-RAS International Conference on Humanoid Robots, pp. 495-501, 2012.
  24. Fumihiko Asano, "Fast convergent gait generation for underactuated biped based on output deadbeat control," Proceedings of the 2012 12th IEEE-RAS International Conference on Humanoid Robots, pp. 90-95, 2012.
  25. Junji Kawamoto and Fumihiko Asano, "Active viscoelastic-legged rimless wheel with upper body and its adaptability to irregular terrain," Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 157-162, Oct. 8, 2012.
  26. Daiki Tanaka, Fumihiko Asano and Isao Tokuda, "Gait analysis and efficiency improvement of passive dynamic walking of combined rimless wheel with wobbling mass," Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 151-156, Oct. 8, 2012.
  27. Fumihiko Asano and Masataka Ohshima, "Emergence of measurable period of double-limb support in limit cycle walking with knees," Proceedings of the 2012 IEEE International Conference on Control Applications, Part of 2012 IEEE Multi-Conference on Systems and Control, pp. 1045-1050, Oct. 4, 2012.
  28. Fumihiko Asano, "Stability principle underlying passive dynamic walking of rimless wheel," Proceedings of the 2012 IEEE International Conference on Control Applications, Part of 2012 IEEE Multi-Conference on Systems and Control, pp. 1039-1044, Oct. 4, 2012.
  29. Yuji Harata, Fumihiko Asano and Takashi Ikeda, "Asymmetric gait for rimless wheel with knee joints," Proceedings of the 2012 IEEE International Conference on Control Applications, Part of 2012 IEEE Multi-Conference on Systems and Control, pp. 1026-1031, Oct. 4, 2012.
  30. Yuji Harata, Koji Iwano, Fumihiko Asano and Takashi Ikeda, "Suppression of period-doubling bifurcation in passive dynamic walking with delayed feedback control," Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2012), ASME DETC2012-70209, pp. 1-10, Aug. 13, 2012.
  31. Fumihiko Asano and Junji Kawamoto, "Passive dynamic walking of viscoelastic-legged rimless wheel," Proceedings of the 2012 IEEE International Conference on Robotics and Automation, pp. 2331-2336, May 16, 2012.
  32. Fumihiko Asano, "Stability analysis of underactuated bipedal gait using linearized model," Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots, pp. 282-287, Oct. 27, 2011.
  33. Ryosuke Inoue, Fumihiko Asano, Daiki Tanaka and Isao Tokuda, "Passive dynamic walking of combined rimless wheel and its speeding-up by adjustment of phase difference," Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2747-2752, Sep. 28, 2011.
  34. Fumihiko Asano, "Self-stabilization principle of mechanical energy inherent in passive compass gait," Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2249-2254, Sep. 28, 2011.
  35. Fumihiko Asano and Masashi Suguro, "Limit cycle running of telescopic-legged rimless wheel," Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp. 1652-1657, May 10, 2011.
  36. Fumihiko Asano, "Stability analysis of passive compass gait using linearized model," Proceedings of the 2011 IEEE International Conference on Robotics and Automation, pp. 557-562, May 10, 2011.
  37. Fumihiko Asano, "High-speed biped gait generation based on asymmetrization of impact posture using telescopic legs", Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4477-4482, Oct. 21, 2010.
  38. Fumihiko Asano and Masashi Suguro, "High-speed dynamic gait generation based on forward tilting impact posture using telescopic legs and forefeet," Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010), pp. 729-736, Sep. 1, 2010.
  39. Fumihiko Asano, "Simulation and experimental studies on passive-dynamic walker that consists of two identical crossed frames," Proceedings of the 2010 IEEE International Conference on Robotics and Automation, pp. 1703-1708, May 4, 2010.
  40. Fumihiko Asano, "Dynamic gait generation of telescopic-legged rimless wheel based on asymmetric impact posture," Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, pp. 68-73, Dec. 8, 2009.
  41. Fumihiko Asano, "Effects of swing-leg retraction and mass distribution on energy-loss coefficient in limit cycle walking," Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3214-3219, Oct. 13, 2009.
  42. Yuji Harata, Fumihiko Asano, Kouichi Taji and Yoji Uno, "Efficient parametric excitation walking with delayed feedback control," Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2934-2939, Oct. 13, 2009. [ Download ]
  43. Fumihiko Asano, "Efficiency analysis of 2-period dynamic bipedal gaits," Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 173-180, Oct. 12, 2009.
  44. Takeshi Hayashi, Fumihiko Asano, Zhi-Wei Luo, Akinori Nagano, Kazuaki Kaneko and Atsuo Kato, "Experimental study of a parametrically excited dynamic bipedal walker with counterweights," Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 81-86, Oct. 12, 2009.
  45. Yuji Harata, Fumihiko Asano, Kouichi Taji and Yoji Uno, "Parametric excitation walking for four-linked bipedal robot," Proceedings of the 9th International IFAC Symposium on Robot Control (SYROCO), pp. 589-594, Sep. 11, 2009.
  46. Fumihiko Asano, "Robust pseudo virtual passive dynamic walking with quasi-constraint on impact posture," Proceedings of the 9th International IFAC Symposium on Robot Control (SYROCO), pp. 571-576, Sep. 11, 2009.
  47. Fumihiko Asano and Zhi-Wei Luo, "On efficiency and optimality of asymmetric dynamic bipedal gait," Proceedings of the 2009 IEEE International Conference on Robotics and Automation, pp. 1972-1977, May 15, 2009.

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