Publications

JOURNAL

    1. Enrique Coronado, Toshio Ueshiba and Ixchel G. Ramirez-Alpizar. A Path to Industry 5.0 Digital Twins for Human–Robot Collaboration by Bridging NEP+ and ROS. Robotics, Vol. 13, No. 2, article 28, January 2024.
      This is an open access article and is available at MDPI.
    2. Takuya Kiyokawa, Naoki Shirakura, Zhenting Wang, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Weiwei Wan and Kensuke Harada. Difficulty and complexity definitions for assembly task allocation and assignment in human–robot collaborations: A review. Robotics and Computer-Integrated Manufacturing, Vol. 84, 102598, 2023.
      This is the accepted manuscript of the article published by Elsevier.
      ©Copyright by Elsevier Ltd. 2023. The published article is available at Science Direct.
    3. Enrique Coronado, Shunki Itadera and Ixchel G. Ramirez-Alpizar. Integrating Virtual, Mixed, and Augmented Reality to Human–Robot Interaction Applications Using Game Engines: A Brief Review of Accessible Software Tools and Frameworks. Applied Sciences, Vol. 13, No. 3, article 1292, January 2023.
      This is an open access article and is available at MDPI.
    4. Kota Takata, Takuya Kiyokawa, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Weiwei Wan, and Kensuke Harada. Graph-Based Framework on Bimanual Manipulation Planning from Cooking Recipe. Robotics, Vol. 11, No. 6, article 123, November 2022.
      This is an open access article and is available at MDPI.
    5. Enrique Coronado, Takuya Kiyokawa, Gustavo A. Garcia Ricardez, Ixchel G. Ramirez-Alpizar, Gentiane Venture, and Natsuki Yamanobe. Evaluating quality in human-robot interaction: A systematic search and classification of performance and human-centered factors, measures and metrics towards an industry 5.0. Journal of Manufacturing Systems, Vol. 63, pp. 392-410, 2022.
      This is the accepted manuscript of the article published by Elsevier.
      ©Copyright by Elsevier Ltd. 2022. The published article is available at Science Direct.
    6. Koshi Makihara, Yukiyasu Domae, Ixchel G. Ramirez-Alpizar, Toshio Ueshiba, and Kensuke Harada. Grasp pose detection for deformable daily items by pix2stiffness estimation. Advanced Robotics, Vol.36, Issue 12, pp. 600-610, June 2022.
      This is the accepted manuscript of the article published by Taylor & Francis Group in Advanced Robotics on 01/06/2022.
      ©Copyright by Taylor & Francis 2022. The published article is available at Taylor & Francis Online.
    7. Akira Nakamura, Natsuki Yamanobe, Ixchel G. Ramirez Alpizar, Kensuke Harada, and Yukiyasu Domae. Selection of Optimal Error Recovery Process using Evaluation Standards in Automated Plants. Journal of Robotics, Networking and Artificial Life, Vol. 8, No. 3, pp 211–217, December 2021.
      This is an open access article under the CC BY-NC 4.0 license, available online.
    8. Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, and Kensuke Harada. Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approach. Applied Sciences, Vol. 10, No. 19, article 6923, October 2020.
      This is an open access article and is available at MDPI.
    9. Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, Takayuki Nishi, Shinichi Kikuchi, Takamitsu Matsubara, and Kensuke Harada. Learning Force Control for Contact-rich Manipulation Tasks with Rigid Position-controlled Robots. IEEE Robotics and Automation Letters (IROS option), Vol. 5, Issue 4, pp. 5709-5716, October 2020. [accepted manuscript]
      ©Copyright by IEEE 2020. The published article is available at IEEE Xplore.
    10. Felix von Drigalski, Chisato Nakashima, Yoshiya Shibata, Yoshinori Konishi, Joshua C. Triyonoputro, Kaidi Nie, Damien Petit, Toshio Ueshiba, Ryuichi Takase, Yukiyasu Domae, Taku Yoshioka, Yoshihisa Ijiri, Ixchel G. Ramirez-Alpizar, Weiwei Wan, and Kensuke Harada. Team O2AS at the World Robot Summit 2018: An Approach to Robotic Kitting and Assembly Tasks using General Purpose Grippers and Tools. Advanced Robotics, Vol. 34, No. 7-8, pp. 514–530, 2020.
      This is the accepted manuscript of the article published by Taylor & Francis Group in Advanced Robotics on 09/03/2020.
      ©Copyright by Taylor & Francis 2020. The published article is available at Taylor & Francis Online.
    11. Kaidi Nie, Felix von Drigalski, Joshua C. Triyonoputro, Chisato Nakashima, Yoshiya Shibata, Yoshinori Konishi, Yoshihisa Ijiri, Taku Yoshioka, Yukiyasu Domae, Toshio Ueshiba, Ryuichi Takase, Xinyi Zhang, Damien Petit, Ixchel G. Ramirez-Alpizar, Weiwei Wan, and Kensuke Harada. Team O2AS’ Approach for the Task-board Task of the World Robot Challenge 2018. Advanced Robotics, Vol. 34, No. 7-8, pp. 477–498, 2020.
      This is the accepted manuscript of the article published by Taylor & Francis Group in Advanced Robotics on 31/03/2020.
      ©Copyright by Taylor & Francis 2020. The published article is available at Taylor & Francis Online.
    12. Akira Nakamura, Natsuki Yamanobe, Ixchel Ramirez Alpizar, Kensuke Harada, and Yukiyasu Domae. Cost-oriented Planning for Error Recovery in an Automation Plant. Journal of Robotics, Networking and Artificial Life, Vol. 6, No. 4, pp 225–230, March 2020.
      This is an open access article under the CC BY-NC 4.0 license, available online.
    13. Ang Zhang, Ixchel G. Ramirez-Alpizar, Kévin Giraud Esclasse, Olivier Stasse, and Kensuke Harada. Humanoid walking pattern generation based on model predictive control approximated with basis functions. Advanced Robotics, Vol. 33, Issue 9, pp. 454–468, 2019.
      This is the accepted manuscript of the article published by Taylor & Francis Group in Advanced Robotics on 21/03/2019.
      ©Copyright by Taylor & Francis 2019. The published article is available at Taylor & Francis Online.
    14. Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuki Nagata, Ixchel G. Ramirez-Alpizar, and Tokuo Tsuji. Motion-Data Driven Grasp/Assembly Planner. Journal of Robotics, Networking and Artificial Life, Vol. 5, No. 4, pp. 232–235, March 2019.
      This is an open access article under the CC BY-NC 4.0 license, available online.
    15. Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Eiichi Yoshida. A simple assembly planner for the insertion of ring-shaped deformable objects. Assembly Automation, Vol. 38, Issue 2, pp. 182–194, 2018. [manuscript]
      ©Copyright by Emerald Publishing Limited 2018. The published article is available at Emerald Publishing
    16. Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez, Juan Rojas, and Hiromu Onda. Optimizing the Motion for Robotic Snap Assembly Using FEM. Journal of Robotics, Networking and Artificial Life, Vol. 5, No. 2, pp. 105-109, 2018.
      This is an open access article under the CC BY-NC 4.0 license, available online.
    17. Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Eiichi Yoshida. Human-based Framework for the Assembly of Elastic Objects by a Dual-arm Robot. ROBOMECH Journal, 4:20, 2017.
      This article is open source and is available at Springer Open.
    18. Natsuki Yamanobe, Weiwei Wan, Ixchel G. Ramirez-Alpizar, Damien Petit, Tokuo Tsuji, Shuichi Akizuki, Manabu Hashimoto, Kazuyuki Nagata, and Kensuke Harada. A brief review of affordance in robotic manipulation research. Advanced Robotics, Vol. 31, Issue 19–20, pp. 1086–1101, 2017.
      This is the accepted manuscript of the article published by Taylor & Francis Group in Advanced Robotics on 31/10/2017.
      ©Copyright by Taylor & Francis 2017. The published article is available at Taylor & Francis Online.
    19. Kensuke Harada, Kazuyuki Nagata, Juan Rojas, Ixchel G. Ramirez-Alpizar, Weiwei Wan, Hiromu Onda, and Tokuo Tsuji. Proposal of a shape adaptive gripper for robotic assembly tasks. Advanced Robotics, Vol. 30, Issue 17–18, pp. 1186–1198, 2016.
      This is the accepted manuscript of an article published by Taylor & Francis Group in Advanced Robotics on 22/07/2016.
      ©Copyright by Taylor & Francis 2016. The published article is available at Taylor & Francis Online.
    20. Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, and Makoto Kaneko. Characterization of Deformable Objects by Using Dynamic Nonprehensile Manipulation. Journal of Robotics and Mechatronics, Vol. 25, Issue 1, pp. 252–261, February 2013.
      ©Copyright by Fuji Technology Press Ltd. and the Japan Society of Mechanical Engineers. This paper is an Open Access Paper available online.
    21. Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, Makoto Kaneko, Chia-Hung Dylan Tsai, and Imin Kao. Dynamic nonprehensile manipulation for rotating a thin deformable object: an analogy to bipedal gaits. IEEE Trans. on Robotics, Vol. 28, Issue 3, pp. 607–618, June 2012. [manuscript]
      ©Copyright by IEEE 2012. The published article is available at IEEE Xplore.

INTERNATIONAL CONFERENCE (peer-reviewed)

    1. Ryo Hanai, Yukiyasu Domae, Ixchel G. Ramirez-Alpizar, Bruno Leme, and Tetsuya Ogata. Force Map: Learning to Predict Contact Force Distribution from Vision. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3129-3136, Detroit, MI, USA, October 2023.
      ©Copyright by IEEE 2023. The published article is available at IEEE Xplore.
      Preprint available in arxiv.org.
    2. Kota Takata, Takuya Kiyokawa, Ixchel G. Ramirez-Alpizar, Natsuki Yamanobe, Weiwei Wan, and Kensuke Harada. Efficient Task/Motion Planning for a Dual-arm Robot from Language Instructions and Cooking Images. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 12058-12065, Kyoto, Japan, October 2022. [manuscript]
      ©Copyright by IEEE 2022. The published article is available at IEEE Xplore.
    3. Hoshito Nagahama, Ixchel G. Ramirez-Alpizar, and Kensuke Harada. Food Arrangement Framework for Cooking Robots. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1179–1184, Sapporo, Japan, July 2022. [manuscript]
      ©Copyright by IEEE 2022. The published article is available at IEEE Xplore.
    4. Enrique Coronado, Kosuke Fukuda, Ixchel G. Ramirez-Alpizar, Natsuki Yamanobe, Gentiane Venture, and Kensuke Harada. Assembly Action Understanding from Fine-Grained Hand Motions, a Multi-camera and Deep Learning Approach. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2605–2611, Prague, Czech Republic, September 2021. [manuscript]
      ©Copyright by IEEE 2021. The published article is available at IEEE Xplore.
    5. Issei Sera, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Zhenting Wang, Weiwei Wan, and Kensuke Harada. Assembly Planning by Recognizing a Graphical Instruction Manual. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3138-3145, Prague, Czech Republic, September 2021. [manuscript]
      ©Copyright by IEEE 2021. The published article is available at IEEE Xplore.
    6. Ixchel G. Ramirez-Alpizar, Ryosuke Hiraki, and Kensuke Harada. Cooking Actions Inference based on Ingredient’s Physical Features. In IEEE/SICE International Symposium on System Integration (SII), pp. 195-200, Fukushima, Japan, January 2021. [manuscript]
      ©Copyright by IEEE 2021. The published article is available at IEEE Xplore.
    7. Akira Nakamura, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Yukiyasu Domae. Using Various Evaluation Standards to Determine an Error Recovery Process in an Automation Plant. In The 2021 International Conference on Artificial Life and Robotics (ICAROB), pp. 321–327, Oita, Japan, January 2021.
      ©Copyright. The published article is available at the Conference Website.
    8. Kosuke Fukuda, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, and Kensuke Harada. Assembly Motion Recognition Framework Using Only Images. In 2020 IEEE/SICE International Symposium on System Integration (SII), pp. 1242-1247, Honolulu, Hawaii, USA, January 2020. [manuscript]
      ©Copyright by IEEE 2020. The published article is available at IEEE Xplore.
    9. Akira Nakamura, Natsuki Yamanobe, Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Yukiyasu Domae. Cost-oriented Planning for Error Recovery in an Automation Plant. In The 2020 International Conference on Artificial Life and Robotics (ICAROB), pp. 285–290, Oita, Japan, January 2020.
      ©Copyright. The published article is available at the Conference Website.
    10. Masato Tsuru, Pierre Gergondet, Tomohiro Motoda, Adrien Escande, Eiichi Yoshida, Ixchel G. Ramirez-Alpizar, Weiwei Wan, and Kensuke Harada. POMDP-based action planning for the recognition of occluded objects with Humanoid robots. In The 2020 International Conference on Artificial Life and Robotics, pp. 281–284, Oita, Japan, January 2020.
      ©Copyright. The published article is available at the Conference Website, after obtaining a free account to log-in (more information).
    11. Damien Petit, Ixchel G. Ramirez-Alpizar, Wataru Kamei, Qiming He, and Kensuke Harada. Realizing an assembly task through virtual capture. In IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 2651–2656, Bari, Italy, October 2019. [manuscript]
      ©Copyright by IEEE 2019. The published article is available at IEEE Xplore.
    12. Yusuke Hayami, Peihao Shi, Weiwei Wan, Ixchel G. Ramirez-Alpizar, and Kensuke Harada. Multi-dimensional Error Identification during Robotic Snap Assembly. In Tadeusz Uhl, editor, Advances in Mechanism and Machine Science. IFToMM WC 2019, vol. 73, pp. 2189–2198. Springer Cham, June 2019.
      This manuscript [download] is a post-peer-review, pre-copyedit version of an article published in Advances in Mechanism and Machine Science. The final authenticated version is available online at Springer.
    13. Yuya Sato, Kensuke Harada, Nobuchika Sakata, Weiwei Wan, and Ixchel G. Ramirez-Alpizar. Two-Stage Picking Method for Piled Shiny Objects. In Tadeusz Uhl, editor, Advances in Mechanism and Machine Science. IFToMM WC 2019, vol. 73, pp. 2049–2058. Springer Cham, June 2019.
      This manuscript [download] is a post-peer-review, pre-copyedit version of an article published in Advances in Mechanism and Machine Science. The final authenticated version is available online at Springer.
    14. Kosuke Fukuda, Ixchel G. Ramirez-Alpizar, Natsuki Yamanobe, Damien Petit, Kazuyuki Nagata, and Kensuke Harada. Recognition of Assembly Tasks Based on the Actions Associated to the Manipulated Parts. In 2019 IEEE/SICE International Symposium on System Integration (SII), pp. 193-198, Paris, France, January 2019. [manuscript]
      ©Copyright by IEEE 2019. The published article is available at IEEE Xplore.
    15. Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, and Kensuke Harada. Learning to Grasp with Primitive Shaped Object Policies. In 2019 IEEE/SICE International Symposium on System Integration (SII), pp. 468-473, Paris, France, January 2019. [manuscript] –Best Paper Award Finalist.
      ©Copyright by IEEE 2019. The published article is available at IEEE Xplore.
    16. Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, Kazuyuki Nagata, Ixchel G. Ramirez-Alpizar, and Tokuo Tsuji. Motion-Data Driven Grasp/Assembly Planner. Proceedings of the 2019 International Conference on Artificial Life and Robotics, pp. 1-4, Oita, Japan, January 2019. [manuscript]
      ©Copyright. The published article is available at the Conference Website, after obtaining a free account to log-in (more information).
    17. Damien Petit, Ixchel G. Ramirez-Alpizar, Qiming He, and Kensuke Harada. A Virtual Capture Framework for Assembly Tasks. In IEEE International Conference on Automation Science and Engineering (CASE), pp. 1618-1623, Munich, Germany, August 2018. [manuscript]
      ©Copyright by IEEE 2018. The published article is available at IEEE Xplore.
    18. Kensuke Harada, Kento Nakayama, Weiwei Wan, Kazuyuki Nagata, Natsuki Yamanobe, and Ixchel G. Ramirez-Alpizar. Tool Exchangeable Grasp/Assembly Planner. In: Strand M., Dillmann R., Menegatti E., Ghidoni S. (eds) Intelligent Autonomous Systems 15. IAS 2018, Advances in Intelligent Systems and Computing, vol 867, pp. 799-811. Springer International Publishing, 2019.
      This manuscript [download] is a post-peer-review, pre-copyedit version of an article published in Advances in Intelligent Systems and Computing. The final authenticated version is available online at Springer
    19. Peihao Shi, Kensuke Harada, Weiwei Wan, Ixchel G. Ramirez, Juan Rojas, and Hiromu Onda. Motion selection for 3D snap assembly. Proceedings of the 2018 International Conference on Artificial Life and Robotics, pp. 490–493, Oita, Japan, February 2018. [manuscript]
      ©Copyright. The published article is available at the Conference Website, after obtaining a free account to log-in (more information).
    20. Damien Petit, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Natsuki Yamanobe, Weiwei Wan, and Kazuyuki Nakata. Extracting grasping, contact points and objects motion from assembly demonstration. In IEEE International Conference on Automation Science and Engineering (CASE), pp. 1096–1101, Xi’an, China, August 2017. [manuscript]
      ©Copyright by IEEE 2017. The published article is available at IEEE Xplore.
    21. Ixchel G. Ramirez-Alpizar, Maximilien Naveau, Christophe Benazeth, Olivier Stasse, Jean-Paul Laumond, Kensuke Harada, and Eiichi Yoshida. Motion Generation for Pulling a Fire Hose by a Humanoid Robot. In IEEE/RAS International Conference on Humanoid Robotics (Humanoids), pp. 1016–1021, Cancun, Mexico, November 2016. [manuscript]
      ©Copyright by IEEE 2016. The published article is available at IEEE Xplore.
    22. Eiichi Yoshida, Ko Ayusawa, Ixchel G. Ramirez-Alpizar, Kensuke Harada, Christian Duriez, and Abderrahmane Kheddar. Simulation-based Optimal Motion Planning for Deformable Object. In 2015 IEEE International Workshop in Advanced Robotics and its Social Impacts (ARSO), Lyon, France, July 2015. [manuscript]
      ©Copyright by IEEE 2015. The published article is available at IEEE Xplore.
    23. Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Eiichi Yoshida. Motion planning for dual-arm assembly of ring-shaped elastic objects. In IEEE/RAS International Conference on Humanoid Robotics (Humanoids), pp. 594–600, Madrid, Spain, November 2014. [manuscript]
      ©Copyright by IEEE 2014. The published article is available at IEEE Xplore.
    24. Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, and Makoto Kaneko. Estimation of a Thin Flexible Object with Bipedal Gaits. In IEEE International Conference on Automation Science and Engineering (CASE), pp. 952–957, Seoul, Korea, August 2012. [manuscript]
      ©Copyright by IEEE 2012. The published article is available at IEEE Xplore.
    25. Akihide Shibata, Mitsuru Higashimori, Ixchel G. Ramirez-Alpizar, and Makoto Kaneko. Tongue Elasticity Sensing with Muscle Contraction Monitoring. In International Conference on Complex Medical Engineering (ICME), pp. 511–516, Kobe, Japan, July 2012. [manuscript]
      ©Copyright by IEEE 2012. The published article is available at IEEE Xplore.
    26. Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, Makoto Kaneko, Chia-Hung Dylan Tsai, and Imin Kao. Nonprehensile Dynamic Manipulation of a Sheet-like Viscoelastic Object. In IEEE International Conference on Robotics and Automation (ICRA), pp. 5103–5108, Shanghai, China, May 2011. [manuscript]
      ©Copyright by IEEE 2011. The published article is available at IEEE Xplore.
    27. Mitsuru Higashimori, Ixchel G. Ramirez-Alpizar, and Makoto Kaneko. Modeling and Handling of Deformable Object by Nonprehensile Dynamic Manipulation. In International Conference on Advanced Mechatronics, pp. 427–432, Osaka, Japan, October 2010.
      This paper is an Open Access Paper available online.
    28. J. Jaimes-Ponce, R. Alcantara-Ramirez, I. I. Siller-Alcala, I. Ramirez-Alpizar, and N. Najera-Ramos. Design, Development and Control of a Water Tank System. In WSEAS/IASME International Conference on Educational Technologies, pp. 43–47, Bucharest, Romania, October 2006.

Invited / Abstract Review Conference Papers

    1. Ixchel G. Ramirez-Alpizar. Towards an efficient framework for generating robotic assembly motions. In Workshop on “The current limits and potentials of autonomous assembly” at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, November 2019.
    2. Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Eiichi Yoshida. Motion planning for dual-arm assembly of ring-shaped elastic objects. In Highlights from IEEE-RAS Conferences at the IEEE International Conference on Robotics and Automation, Seattle, USA, May 2015.
    3. Ixchel G. Ramirez-Alpizar, Kensuke Harada, and Eiichi Yoshida. Assembly Planning of Ring-Shaped Elastic Objects. In Optimal Robot Motion Planning Workshop at the IEEE International Conference on Robotics and Automation, Seattle, USA, May 2015 [manuscript].
    4. Ixchel G. Ramirez-Alpizar, Mitsuru Higashimori, and Makoto Kaneko. Bipedal Gait Like Motions of a Thin Viscoelastic Object. In International Symposium on Micro-Nano Mechatronics and Human Science, pp. 519–522, Nagoya, Japan, November 2011. [manuscript]
      ©Copyright by IEEE 2011. The published article is available at IEEE Xplore.
Copyright © 2018 Ixchel G. Ramirez-Alpizar. All rights reserved.