"Yunfeng Wu,Masaru Higuchi,Yukio Takeda","Development of a Power Assisting System of a Walking Chair",,"Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems",,,,"pp. 3207-3212",2004,Sept.
"Yukio Takeda,Kazuki Ichikawa,Hiroaki Funabashi,Kazuya Hirose","Static Analysis and Design of a Rolling Spherical Bearing",,"Proceedings of the 11th World Congress in Mechanism and Machine Science",,,,"pp. 330-333",2004,Apr.
"武田行生,中村広則,樋口勝,杉本浩一","マイクロパラレルマニピュレータのディジタル駆動系の研究",,"日本機械学会2004年度年次大会講演論文集",,,"No. 4","pp. 71-72",2004,
"武田行生,上山孔司,杉本浩一","Stewart Platform 形パラレルメカニズムの連結連鎖内に局所自由度を有する特異点における運動解析",,"2004年度精密工学会秋季大会学術講演会講演論文集",,,,"pp. 865-866",2004,
"樋口勝,中村仁,武田行生,杉本浩一","歩行椅子用パワーアシスト駆動系の開発（人間のクランク駆動特性）",,"日本機械学会2004年度年次大会講演論文集",,,"No. 4","pp. 221-222",2004,
"樋口勝,森庸太郎,武田行生,杉本浩一","空圧を利用した水上走行機械の足部駆動系の開発",,"第22回日本ロボット学会学術講演会予稿集",,,,,2004,
"武田行生","パラレルメカニズムの連結連鎖内に局所自由度を有する特異点における運動特性",,"日本機械学会第4回機素潤滑設計部門講演会講演論文集",,,,"pp. 169-172",2004,
"Yukio TAKEDA,Gang SHEN,Hiroaki FUNABASHI","A DBB Based Kinematic Calibration Method for In-Parallel Actuated Mechanisms Using a Fourier Series",,"Transactions of the ASME, Journal of Mechanical Design",,"Vol. 126","No. 5","pp. 856-865",2004,
" Masaru Higuchu,Hideo Tanaka,Shingo Tsutsumi,Yukio Takeda,Hiroaki Funabashi","Design of the Leg Mechanism of a Water Surface Runner",,"Journal of Robotics and Mechatronics",,"Vol. 16","No. 3","pp. 304-311",2004,