論文

• Phyo Wai, Phobkrit Kanokkhanarat, Ban-Seok Oh, Veerayut Wongpattharaworakul, Nattawoot Depaiwa, Watcharin Po-ngaen, Nuwong Chollacoop, Chadchai Srisurangkul, Hidenori Kosaka, Masaki Yamakita, Chinda Charoenphonphanich, Preechar Karin. Experimental investigation of the influence of ethanol and biodiesel on common rail direct injection diesel engine's combustion and emission characteristics, Case Studies in Thermal Engineering, Vol. 39, Sept. 2022.
• S.Srang, S.Ath, M. Yamakita. Euler Based Dynamic Modeling and Control Simulation for Dual-Axis Parallel Mechanism Solar Tracker, Advances in Science, Technology and Engineering Systems Journal, Sept. 2020.
• R.Takano, M. Yamakita. Robust Control Barrier Function for Systems Affected by A Class of Mismatched Disturbances, SICE Journal of Control, Measurement, and System Integration (JCMSI), Vol. 13, No. 4, Apr. 2020.
• 大山, 山北, 佐多, 松永. ガウス過程回帰を用いたエンジンノックのモデ ル化とその制御, ,計測自動制御学会論誌, Vol. 55, No. 6, June 2019.
• Y.Hanazawa, T.Hayashi, M.Yamakita, F.Asano. Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling, Mass, J. of Robotics and Mechatronics, Vol. 31, No. 6, June 2019.
• 山北昌毅, 石原新士. パラメータ不確かさを有する非線形システムにおけるロバストカルマンフィルタ, 計測自動制御学会論文誌, Vol. 53, No. 10, 2017.
• 山北昌毅, 石原紳士. パラメータ不確かさを有する非線形システムにおける連続・離散ロバスト拡張カルマンフィル, システム制御情報学会論文誌, Vol. 52, No. 7, July 2016.
• MASAKI YAMAKITA. A Transnational Teaming Competition for Project-Based Design Education inUndergraduate Robotics, Robotics, Vol. 5, No. 3, 2016.
• 山北昌毅. 外れ値環境下におけるロバスト Self-Tuning Controller, 計測自動制御学会論文誌, Vol. 50, No. 12, Dec. 2014.
• 山北昌毅. エンジンモデル同定における誤差モデルのカーネル同定法, 計測自動制御学会論文集, Vol. 50, No. 3, pp. 1/6, Mar. 2014.
• 山北昌毅. 統計量に基づくロバストカルマンフィルタの設計手法とその応用, システム制御情報学会論文誌, Vol. 27, No. 2, Feb. 2014.
• Kaneda, Y., Irizuki, Y., Sadahiro, T., MASAKI YAMAKITA. Reduction of discretization errors of dynamics with variable structures and its realization using FPGA, Electronics and Communications in Japan, Vol. 97, No. 7, pp. 1-11, 2014.
• MASAKI YAMAKITA. Adaptive friction compensation for a position control system with Stribeck friction using hybrid unscented Kalman filter, Int. J. of Information and Communication Technology, Vol. 5, No. 3, pp. 283/295, Dec. 2013.
• MASAKI YAMAKITA. Using Ensemble Kalman Filter for Distributed Sensor Fusion, システム制御情報学会論文誌, Vol. 26, No. 12, Dec. 2013.
• 山北昌毅. 足首のイナーターを利用した高速平面足受動歩行の実現, 日本ロボット学会誌, 日本ロボット学会, Vol. 31, No. 8, pp. 1/9, Aug. 2013.
• 花澤, 山北. ２足歩行における足首弾性の効果, 計測自動制御学会論文集, Vol. 49, No. 1, 2013.
• 金田, 入月, 山北. ロバストUKFとそのパラメータ設計手法, システム制御情報学会, Vol. 26, No. 5, pp. 182/184, 2013.
• Sarot Srang, M. Yamakita. Adaptive friction compensation for a position control system with Stribeck friction using hybrid unscented Kalman filter, Int. J. of Information and Communication Technology, Vol. 5, No. 3/4, pp. 283/295, 2013.
• 金田, 入月, 貞弘, 山北. 可変構造を持つダイナミクスの離散化誤差低減とFPGAを用いた実現, 電気学会論文誌（掲載決定）, Sept. 2012.
• 山北 昌毅, ﾎﾟﾝｻﾗﾕｯｼﾘﾁﾔｲ. アウトオブシーケンス測定を用いたトラッキングのためのアンサンブルカルマンフィルタ, 電気学会論文誌C, Vol. 132, No. 10, pp. 1--9, Sept. 2012.
• Y. Hanazawa, M. Yamakita. High-efficient biped walking based on flat-footed passive dynamic walking with mechanical impedance at ankles, Journal of Robotics and Mechatronics, Vol. 24, No. 3, pp. pp. 498-506, Sept. 2012.
• 花澤, 山北. イナーターを有する平面足受動歩行, 日本シミュレーション 学会論文誌（掲載決定）, Sept. 2012.
• MASAKI YAMAKITA. Multi-Input Multi-Output Integrated Ionic Polymer-Metal Composite for Energy Controls, Micromachines, Micromachines, Vol. 3, No. 1, pp. 126/136, Sept. 2012.
• 西田, 山北. 偏微分方程式系に対する仮想Lagrangian構成法, 計測自動制御学会論文集（掲載決定）, Sept. 2012.
• K. Lychek, M. Yamakita. Control of an Autonomous Electric Bicycle with Both Steering and Balancer Controls, Advanced Robotics, Vol. 25, No. 1, pp. 1/22, Sept. 2011.
• MASAKI YAMAKITA. Controller Design of Acrobatic Turn via Wheelie for a Bicycle with a Balancer, 日本シミュレーション学会論文誌, Vol. 6, Aug. 2010.
• 村山 明拡, 山北昌毅. 非線形モデル予測制御による可変バルブ機構付きエンジンの制御, 電気学会論文誌. C, 電子・情報・システム部門誌 = The transactions of the Institute of Electrical Engineers of Japan. C, A publication of Electronics, Information and System Society, The Institute of Electrical Engineers of Japan, Vol. 130, No. 5, pp. 828-833, May 2010.
• Kamamichi, N., Maeba, T., MASAKI YAMAKITA, Mukai, T.. Printing fabrication of a bucky gel actuator/sensor and its application to three-dimensional patterned devices, Advanced Robotics, Vol. 24, No. 10, pp. 1471-1487, 2010.
• 山北昌毅. 非ガウス雑音を受ける領域拘束付き非線形システムの状態推定, 電気学会論文誌 C, Vol. 129, No. 11, Nov. 2009.
• MASAKI YAMAKITA. Integrated Design of IPMC Actuator/Sensor, Advanced Robotics, VSP and Robotics Society of Japan, No. 7, July 2008.
• MASAKI YAMAKITA. Asymptotically Stable Gait Generation for Compass-like Biped Robot Based on Stability Principle of Rimless Wheel, 日本ロボット学会誌, 日本ロボット学会, Vol. 26, No. 4, pp. 51ー62, June 2008.
• N.Kamamichi, M.Yamakita, T.Kozuki, K.Asaka, Z.W.Luo. Doping effects on robotic systems with ionic polymer-metal composite actuators, Advanced Robotics, Vol. 21, No. 1, pp. 65-85, Jan. 2007.
• 西田, 山北. 高階ストークス・ディラック構造, 計測自動制御学会論文誌, 計測自動制御学会論文誌, Vol. ４１, No. ７, 2005.
• 西田, 山北. 無限次元ポートハミルトニアン系の外乱構造分解, 計測自動制御学会, Vol. ４１, No. １０, 2005.
• 貞弘, 山北. 拘束を考慮した人型ロボットの着地制御, シミュレーション学会論文誌, Vol. ２４, No. ２, pp. １４３－１５０, 2005.
• A.Asano, Z.W.Luo, M.Yamakita. Biped Gait Generation and Control Based on A Unified Property of Passive Dynamic Walking, IEEE Trans. on Robotics, Vol. 21, No. 4, pp. 754-762, 2005.
• 浅野, 羅, 山北. 力学的エネルギー回復に基づく動的歩容生成と制御, 日本ロボット学会誌, 日本ロボット学会論文誌, Vol. ２３, No. ７, pp. ８２１－８３０, 2005.
• J.Jongusuk, T.Mita, M.Yamakita. Development of Collision-Free　Formation Control for UAVs based on Switching Scheme, Trans. of ISCIE, Vol. １７, No. １, pp. ２６－３８, 2004.
• F.Asano, Z.Luo, M.Yamakita, K.Tahara, S.Hosoe. Bio-Mimetic Control for Whole Arm Cooperative Manipulation, Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics, 2004.
• F.Asano, Z.Luo, M.Yamakita. Unification of Dynamic Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis, Proc. of IROS04, 2004.
• F.Asano, Z.Luo, S.Hosoe, M.Yamakita. Modeling and Control for Whole Arm Dynamic Cooperative Manipulation, Proc. of IROS04, 2004.
• G.Nishida, M.Yamakita. Structure Decomposition for Disturbed Distributed-Parameter Port-Hamiltonian Systems, Proc. of CDC 2004, 2004.
• M.Yamakita, T.Sito. Formation Control of SMC with Multiple Coordinate Systems, Proc. of IROS04, 2004.
• M.Yamakita, N.Kamamichi, Y.Kaneda, K.Asaka, Z.Luo. IPMC LINEAR ACTUATOR WITH RE-DOPING CAPABILITY AND ITS APPLICATION TO BIPED WALKING ROBOT, Proc. of 3rd IFAC Symp. on Mechatornics Systems, 2004.
• M.Yamakita, T.Yonemura. Yet Another Fractal in Pendulum Systems, Proc. of 3rd IFAC Symp. on Mechatornics Systems, 2004.
• M.Yamakita, Y.Musha, G.Kinoshita. Comparative Study of Simultaneous Parameter-State Estimations, Proc. of CCA 2004, 2004.
• F.Asano, Z.Luo, M.Yamakita. Some Extensions of Passive Walking Formula to Active Biped Robot, Proc. of the IEEE Int. Conf. on Robotics and Automation, 2004.
• G.Nishida, M.Yamakita. A Higher Order Stokes-Dirac Structure for Distributed-Parameter Hamiltonian Systems, Proc. of ACC2004, 2004.
• F.Asano, Z.Luo, M.Yamakita. Some Extensions of Passive Walking Formula to Active Biped Robots, Proc. of ICRA 2004, 2004.
• 浅野, 山北, 羅. 受動歩行を規範とした二足ロボットの歩容生成と制御, 日本ロボット学会論文誌, Vol. 22, No. 1, 2004.
• J.H.Suh, M.Yamakita, S.B.Kim. Adaptive Desired Velocity Field Control for Cooperative Mobile Robots wiht Decentralized PVFC, JSME Int. Journal, Series C, Vol. 47, No. 1, pp. 280-288, 2004.
• F.Asano, M.Yamakita, Z.Luo. A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraint, IEEE Trans. on Robotics and Automation, Vol. 20, No. 3, pp. 565-573, 2004.
• 山北, 山田, 橋本. ３次元ヘビロボットの推進制御と先頭位置姿勢制御, 日本ロボット学会論文誌, Vol. １, No. ２２, pp. 61-67, 2004.
• M.Yamakita, N.Kamamichi, Y.Kaneda, K.Asaka, Z.Luo. Development of Artificial Muscle Linear Actuator Using Ionic Polymer-Metal Composites, J. of Advanced Robotics, Vol. 18, No. 4, pp. 383-399, 2004.
• F.Asano, M.Yamakita et.al.. An Unified Formulation and Solution to Gait Generation Problems Based on Passive Dynamic Walking, Proc. of CLAWAR 2003, 2003.
• M.Yamakita et.al. Motion Control for Rubust Landing of Acrobat Robot (SMB), Proc. of IROS03, 2003.
• M.Yamakita et.al.. Control of Locomotion and Head Configuration of 3D Snake Robot (SMA), Proc. of ICRA03, 2003.
• F.Asano et.al., MASAKI YAMAKITA. Dynamic Modeling and Control for Whole Body Manipulation, Proc. of IROS03, 2003.
• M.Yamakita, et. al.. Development of Artificial Muscle Actuator Using Ionic Polymer with its Application to Biped Walking Robots, Proc. of SPIE, 2003.
• T.Sadahiro, M.Yamakita. Landing Control of Acrobat Robot Satisfying Various Constraints, Proc. of ICRA03, 2003.
• M.Yamakita et.al.. Analysis of Formation Control of Cooperative Transportation of Mother Ship by SMC, Proc. of ICRA03, 2003.
• F.Asano, M.Yamakita. A Novel Gait Generation for Biped Walking Robots Based on Mechanical Energy Constraints, Proc. of IROS'02, 2002.
• M.Iwase, M.Yamakita, K.Furuta. A LQG controller design for linear continuous-time systems based on input-output data, Proc. of IFAC Congress 2002, 2002.
• M.Yamakita, T.Yonemura. Stabilization of Acrobat Robot in Upright Position on a Horizontal Bar, Proc. of ICRA02, 2002.
• J.S.Suh, M. Yamakita. A Study on Adaptive Desired Velocity Field Generation for Leader-Follower Type Cooperative 3-Wheeled Mobile Robots with Decentralized PVFC, Trans. of ISCIE, Vol. 15, No. 9, pp. 459-468, 2002.
• 南, 美多, 山北. アクロバットロボットの振り上げ倒立制御と特異点問題, 日本ロボット学会誌, Vol. 2, No. 2, 2002.
• F. Asano, M.Yamakita. Virtual Gravity and Coupling Control for Robotic Gait Synthesis, IEEE Trans. on SMC: Part A, Vol. 31, No. 6, pp. 737-745, 2002.
• Y.Michitsuji, H.Sato, M.Yamakita. Giant swing via forward upward circling of the Acrobat-robot, Proc. of ACC'01, 2001.
• F. Asano, M. Yamakita. Virtual gravity and coupling control for robotic gait synthesis, Proc. of 1st ISHF, 2001.
• H.Ohata, M.Yamakita. Periodic Stabilazing Control Considering Collisions- Application to Walking Robots -, Proc. of IROS'0, 2001.
• M.Yamakita et. al.. Trajectory tracking control by an adaptive iterative learning control with artificial neural networks, Proc. of ACC'01, 2001.
• Masaki Yamakita, Jin-Ho Suh. Adaptive Generation of Desired Velocity Field for Leader-Follower Type Cooperative Mobile Robots with Decentralized PVFC, Proc. of ICRA'01, 2001.
• 浅野, 山北. 二足歩行における能動膝関節拘束制御と仮想干渉駆動による歩行パターン切替え制御, システム制御情報学会論文誌, Vol. 14, No. 11, 2001.
• M. Yamakita, F. Asano. Extended PVFC with Variable Velocity Fields for Kneed Biped, Advanced Robotics, Vol. 15, No. 2, pp. 139/168, 2001.
• F. Asano, M.Hashimoto, N.Kamamichi, M.Yamakita. Extended Virtual Passive Dynamic Walking and Virtual Passivity-mimicking Control Laws, Proc. of ICRA'01, 2001.
• H.Ohta, M.Yamakita, K, Furuta. Passive to Active Dynamic Walking, Int. J. Robust Nonlinear Control, No. 11, pp. 287/303, 2001.
• M. Iwase, M. Yamakita, Y. Maruta, H. Yamazoe. An Adaptive Learning Control and Its Application of Vibration Isolation System, Asian Journal of Control, 2001.
• M.Yamakita, F.Asano, N.Kamamichi. Virtual Coupling Control and Its Application to Biped Walking Robots, Proc. of IROS'01, 2001.
• M.Yamakita, J.H.Suh, K.Hashiba. Decentralized PVFC for Cooperative Mobile Robots, Trans. IEE of Japan, Vol. 120, No. 10, pp. 1485-1491, 2000.
• MASAKI YAMAKITA. Control Education Using Pendulum Apparatus, Trans. on Control, Automation and Systems Eng., Vol. 2, No. 3, pp. 157/162, 2000.
• MASAKI YAMAKITA. Design of Functional Observer in Input-Output Relation, Trans. of SICE, Vol. 37, No. 1, pp. 44/49, 2000.
• MASAKI YAMAKITA. Decentralized PVFC for Cooperative Mobile Robots, Trans. IEE of Japan, Vol. 120-C, No. 10, pp. 1485/1491, 2000.
• 山北昌毅. ラグランジュ方程式の構造に着目したANNを用いたロボッアームの制御, 計測自動制御学会論文誌, Vol. 36, No. 8, pp. 726/728, 2000.
• MASAKI YAMAKITA. A New Scheme of Nonlinear Continuous System Identification Using Radial Basis Function Networks, Trans. IEE of Japan, 120-C, No. 8, pp. 726/728, 2000.
• 山北昌毅, 佐藤隆志, 岩田高明. ラグランジュ方程式の構造に着目したＡＮＮを用いたロボットアームの制御, 計測自動制御学会論文誌, Vol. 36, No. 8, pp. 726-728, 2000.
• MASAKI YAMAKITA. Jumping Cat Robot with Kicking a Wall, Proc. of AMAM, 2000.
• MASAKI YAMAKITA. PWM-Type Discrete VSS Controller for On/Off Acutator Systems, Prof. of CDC'00, 2000.
• MASAKI YAMAKITA. Extended PVFC with variable velocity fields for kneed biped, Proc. of the first IEEE-RAS Int. Conf. on Humanoid Robots, 2000.
• MASAKI YAMAKITA. Swing up of inverted pendulum using vibrational input, Proc. of CCA'00, 2000.
• MASAKI YAMAKITA. Adaptive Generation of Desired Velocity Field for Cooperative Mobile Robots with Decentralized PVFC, Proc. of IROS'00, 2000.
• MASAKI YAMAKITA. Comparison of Output Feedback Controls Using ANN for Mechanical Systems, Proc. of IECON'00, 2000.
• MASAKI YAMAKITA. An Adaptive Learnig Control and Its Application to Vibration Isolation Systems, Proc. of Asian Control Conference, 1558/1563, 2000.
• MASAKI YAMAKITA. Passive velocity field control of biped walking robot, proc. of IEEE Int. Conf. on Robotics and Automation, 2000.
• M. Yamakita, K. Furuta. Stabilization of a Limit Cycle in TITech Double Pendulum, proc. of IFAC'99, 1999.
• MASAKI YAMAKITA. Improved Continuation Method Controller for PWM Systems: An Experimental Case Study, Asian Journal of Control, Vol. 1, No. 1, pp. 35/41, 1999.
• MASAKI YAMAKITA. Robot Motion Control by MaTX/RtMatX, proc. CACSD'99, 1999.
• MASAKI YAMAKITA. Stabilization of a Limit Cycle in TITech Double Pendulum,, proc. of IFAC'99, 1999.
• MASAKI YAMAKITA. Adaptive ANN control of robot arm using structure of Lagrange equation, ACC'99, 1999.
• MASAKI YAMAKITA. From passive to active dynamic walking, Proc. of CDC'99, 1999.
• M. Yamakita, T. Sumiya. Motion Generation of Robotic Systems Using Finite Automaton Based on Gradient Flow, Proc. of SMC'99, pp. VI-914-917, 1999.
• M. Yamakita, T. Satoh. Adaptive ANN Control of Robot Arm using Structure of Lagrange Equation, Proc. ACC'99, pp. 2834-2836, 1999.
• M. Yamakita, T. Hishino, K. Furuta. Control Practice using Pendulums, Proc. ACC'99, pp. 490-494, 1999.
• M. Yamakita, K. Furuta. orward Robust State Transfer Control of TITech Double Pendulum, The Astrom Symposium on Control, ed. B. Wittenmark and A. Rantzer, Studentlitteratur, pp. 73-96, 1999.
• MASAKI YAMAKITA. Output feedback control for PWM systems: online continuation method approach, proc. ACC'99, 1999.
• M.Yamakita, M.Negi, K.Ito. Tele-Bilateral Impedance Control for Master-Slave Systems, Trans. of the SICE, Vol. 35, No. 3, pp. 370-377, 1999.
• MASAKI YAMAKITA. Control Practice Using Pendulums,, ACC'99., 1999.
• MASAKI YAMAKITA. Online continuation method controller for PWM systems, Proc. of CDC'98 , 1998.
• MASAKI YAMAKITA. A System Structure with Trajectory Planning and Control for Robotic Dynamic Manipulation, Advanced Robotics , Vol. 11, No. 7, pp. 695-712, 1998.
• MASAKI YAMAKITA. Decentralized Cooperative Controller for Multiple Robotic Systems Based on Passivity Velocity Field Control, Proc. ISIAC'98, 1998.
• MASAKI YAMAKITA. An Application of Passive Velocity Field Control to Cooperative Multiple 3-Wheeled Mobile Robots, Proc. of IROS'98, 1998.
• 山北昌毅. Passive Velocity Field Controlを用いた複腕協調制御, 電気学会論文誌 C分冊, pp. 66/74, 1998.
• 山北昌毅. 未知の柔軟対象物に対する接触作業のためのマニピュレータのゲインスケジュール制御, システム制御情報学会論文集, Vol. 10, No. 5, pp. 236-241, 1997.
• MASAKI YAMAKITA. An Extension of Passive Velocity Field Control to Cooperative Multiple Manipulator Systems, proc. of IROS'97, pp. 11/16, 1997.
• 山北昌毅. 未知な柔軟曲面上での倣い作業におけるマニピュレータの動的位置/力制御, 日本機械学会論文集(C編), Vol. 63, No. 607, pp. 303-310, 1997.
• MASAKI YAMAKITA. Potential Field Representation of Environment Model and Its Application to Robot's Force/Position Hybrid Control, Proc. of ETFA'96, pp. 316-321, 1996.
• 山北昌毅. 適応スライディング面によるモデル規範型可変構造制御に関する研究, 計測自動制御学会論文集, Vol. 32, No. 5, pp. 689-698, 1996.
• MASAKI YAMAKITA. Impedance Control of Robot Manipulators using Euler Parameters, Proc. of CDC'96, pp. 1964-1966, 1996.
• MASAKI YAMAKITA. Adaptive Hybrid Control of Manipulators on Uncertain Flexible Objects, J. of Advanced Robotics, Vol. 10, No. 5, pp. 469-485, 1996.
• 山北昌毅. 三輪車の動的制御でヒューマンオペレーション, 電気学会論文誌C分冊, Vol. 116-C, pp. 66-74, 1996.
• MASAKI YAMAKITA. Adaptive Hybrid Control for a Robot Manipulators Interacting with Uncertain Flexible Environments, Proc. of 13th IFAC world congress, 1996.
• MASAKI YAMAKITA. Model Following Control on an Adaptive Sliding Surface for a Class of Plants with Unmatched Parametric Uncertainties, pp. 3510/3515, 1996.
• 山北昌毅. マッチング条件とみたさないパラメータ不確定性をもつクラスのプラントに対する適応スライディング面に基づいたモデル追従制御, 計測自動制御学会論文集, Vol. 32, No. 5, pp. 663-671, 1996.
• MASAKI YAMAKITA. Heterogeniously Constrained Master-Slave System: Cart and Human Coordination, Proc. of Ro-Man'95, pp. 153/158, 1995.
• MASAKI YAMAKITA. Experimental Study of Tele-Bilateral Impedance Control Using Bilinear Model, Proc. of IEEE Robotic & Automation, 1995.
• MASAKI YAMAKITA. Robust Swing Up Control of Double Pendulum, Proc. of ACC '95, 1995.
• MASAKI YAMAKITA. Compliant Control Considering a Robot's Mauipulability, Trans. of SICE, Vol. 31, No. 9, pp. 1534-1539, 1995.
• MASAKI YAMAKITA. Estimation of Environment Models using Vector Field and its Application to Robot's Contact Tasks, Proc. of Int. Conf. on Neural Network, pp. 2546-2549, 1995.
• MASAKI YAMAKITA. Self-Organization of an Uniformly Distributed Visuo-Motor Map through Controlling the Spatial Cariation, Autonoumous Robotics Systems , pp. 279/288, 1994.
• MASAKI YAMAKITA. Juggling Control Using Neural Oscillators, Proc. of IROS '94, 1994.
• MASAKI YAMAKITA. A NEW RECURSIVE FORM ADAPTIVE CONTROL OF MANIPULATORS AND ITS RELATIONS TO CONVENTIONAL RECORSIVE-CLOSED FORM ADAPTIVE CONTROL, Proc. of IFAC Congress '93, 1993.
• MASAKI YAMAKITA. Swing up control of inverted pendulum using pseudo-state feedback, Journal of Systems and Control Engineers, Vol. 206, 1993.
• MASAKI YAMAKITA. Swing Up Control of Double Pendulum, Proc. of ACC '93, 1993.
• MASAKI YAMAKITA. A Design of learning control system for multivariable systems, Asia-Pacific Engineering Journal (Part A), Vol. 2, No. 1, 1992.
• MASAKI YAMAKITA. Tele-Virtual Reality of Dynamic Model, Proc of IROS '92, 1992.
• MASAKI YAMAKITA. Parallel Implementation of Newton-Euler Algorithm with One Step Ahead Prediction, Proc. of Robotics & Automation, 1991.
• MASAKI YAMAKITA. Iterative generation of virtual reference for a manipulator, Robotica, No. 9, 1991.
• 山北昌毅. 学習による離散時間系に対する仮想目標入力設計法, 計測自動制御学会論文集, Vol. 25, No. 8, 1988.
• MASAKI YAMAKITA. Computation of optimal control for linear systems with delay Spatial Cariation, International Journal of Control, Vol. 48, No. 2, 1988.
• MASAKI YAMAKITA. ITERATIVE GENERATION OF OPTIMAL INPUT FOR A MANIPULATOR, Proc. of IEEE Robotics and Automation , pp. 579/683, 1986.
• MASAKI YAMAKITA. Design of Learning Control for Multi Linear Systems, Journal of SICE, Vol. 22, No. 12, 1986.
• MASAKI YAMAKITA. Trajectory Tracking Control of Robot Arms Using ORBIX, Journal of Robotics Systems, Vol. 2, No. 1, 1985.

著書

• MASAKI YAMAKITA. Electromechanically Active Polymers, Springer, 2016.
• 山北昌毅. 事例で学ぶ数学活用法, 朝倉書店, 2015.
• 山北昌毅. 実時間最適化の制御の実応用, コロナ社, 2015.
• 山北. 自動車エンジンのモデリングと制御, 自動車エンジンのモデリングと制御, コロナ社, Mar. 2011.
• Ohata, A., MASAKI YAMAKITA. An application of mpc starting automotive spark ignition engine in SICE benchmark problem, Lecture Notes in Control and Information Sciences, Vol. 402, pp. 153-170, 2010.
• MASAKI YAMAKITA. Electroactive Polymers in Robotic Applications: Artificial Muscles and Sensors, Chap 8, Springer, Jan. 2007.
• M.Yamakita, K.Furuta. Torward Robust State Transfer Control of TITech Double Pendulum, The Astrom Symposium on Control, The Astrom Symposium on Control, pp. 73/96, 1999.
• 山北昌毅. Torward Robust State Transfer Control of TITech Double Pendulum, The Astrom Symposium on Control, The Astrom Symposium on Control, pp. 73/96, 1999.
• MASAKI YAMAKITA. A study on Model Reference Variable Control with Adaptive Sliding Surface, Proc. of CDC'96, Proc. of CDC'96, pp. 3504-3509, 1996.
• MASAKI YAMAKITA. Tracking Control by Learning and Its Application to Semiconductor Diffusion Furnace Temperature Control, In Telligent Control Systems, In Telligent Control Systems, 1996.

国際会議発表 (査読有り)

• M.Katayama, S.Tokuda, M.Yamakita, Hiroyuki Oyama. Fast LTL-Based Flexible Planning for Dual-Arm Manipulation, IROS 2020, Proc. of IROS 2020, Oct. 2020.
• S.Tokuda, M. Katayama, M. Yamakita. Generating New Lower Abstract Task Operator using Grid-TLI, IROS 2020, Proc. of IROS 2020, Oct. 2020.
• Y.Igarashi, M.Yamakita, Jerry Ng3, H. Harry Asada. A Robust Method for Dual Faced Linearization (DFL), IFAC Congress 2020, Proc. of IFAC Congress 2020, July 2020.
• M.M.Pelit, J.Chang, R.Takano, M. Yamakita. Bipedal Walking Based on Improved Spring Loaded Inverted Pendulum Model with Swing Leg, AIM 2020, Proc. of AIM 2020, July 2020.
• Y.Igarashi, M.Yamakita, Jerry Ng3, H. Harry Asada. MPC Performances for Nonlinear Systems Using Several Linearization, ACC2020, Proc. of ACC2020, July 2020.
• R.Takano, J.Chang, M. Yamakita. Periodic Trajectory Planning and Robust Output Zeroing Control for Underactuated Bipedal Robots with Predicted Disturbances, IROS 2019, Proc. of IROS 2019, Nov. 2019.
• H.Yano, J.Chang, R.Takano, M.Yamakita. Simultaneous Optimization of Trajectory and Parameter for Biped Robot with Series Elastic Actuators, IFAC WROCO 2019, Proc. IFAC WROCO 2019, Sept. 2019.
• J.Jirapat, M. Yamakita. Improved Soil Shape on the Dump Truck for Soil Loading Operation of Excavator, AIM2019, Proc. of AIM2019, July 2019.
• J.Jirapat, K.Oji, M. Yamakita. Iterative Learning Control for Soil Loading Operation of Excavator, ASCC2019, Proc. of ASCC2019, June 2019.
• MASAKI YAMAKITA, Rin Takano. Robust Constrained Stabilization Control using Control Lyapunov and Control Barrier Function in the presence of Measurement Noises, Proc. of CCTA 2018, 2018.
• MASAKI YAMAKITA, Rin Takano, Hiroyuki Oyama. Application of Robust Control Barrier Function with Stochastic Disturbance Model for Discrete Time Systems, IFAC E-CoSM 2018, 2018.
• MASAKI YAMAKITA, Shinji Ishihara. Simultaneous states and parameters estimation for nonlinear systems by Robust Approximated Minimum Variance Unbiased Filter, Proc. of CCTA 2018, 2018.
• MASAKI YAMAKITA, Yusuke Igarashi. Autonomous Bike System for Acrobatic Motions, Proc. of SICE Annual Conf. 2018, 2018.
• MASAKI YAMAKITA, Mizuho Katayama. Development of IPMC Driven 3D Shape, Proc. of SICE Annual Conf. 2018, 2018.
• MASAKI YAMAKITA, Rin Takano, Jun Ho Chang. Approximated Model Matching Control for Running Robots with SEA Actuators, Proc. of AIM2018, 2018.
• MASAKI YAMAKITA, Shinji Ishihara. Approximated unbiased minimum-variance simultaneous states and parameters estimation for nonlinear systems,, IFAC World Congress 2017, 2017.
• MASAKI YAMAKITA, Kawng Seo. Nonlinear Time-Varying System Identification with Recursive Gaussian Process, Proc. of ACC 2017, 2017.
• MASAKI YAMAKITA, Rin Takano. Sequential-contact bipedal running based on SLIP model through zero moment point control, AIM2017, Proc. of AIM2017, 2017.
• MASAKI YAMAKITA, Yuuta Hanazawa, Rin Takano. Inerter Effects for Running Robots with Mechanical Impedance, ROBIO 2017, ROBIO 2017, 2017.
• MASAKI YAMAKITA, Shinji Ishihara. Robust Approximated Unbiased Minimum Variance Filter for nonlinear systems with parameter uncertainties, IEEE CDC 2017, IEEE CDC 2017, 2017.
• MASAKI YAMAKITA, Hiroaki Ishiyama. Training data reduction for nonlinear state estimator, ASCC 2015, 2016.
• MASAKI YAMAKITA, Hiroaki Ishiyama. A New D-Optimal Input Sequence Design Using PI2 Algorithm, IFAC AAC 2016, 2016.
• MASAKI YAMAKITA, Hiroyuki Ohyama. Identification of Static, IFAC AAC 2016, 2016.
• MASAKI YAMAKITA, Shinji Ishihara. Gain Constrained Robust UKF for Nonlinear Systems with Parameter Uncertainties, ECC 2016, 2016.
• MASAKI YAMAKITA, Shinji Ishihara. Adaptive Robust UKF for Nonlinear Systems with Parameter Uncertainties, IECON 2016, 2016.
• MASAKI YAMAKITA, Hiroyuki Ohyama. Approximated Stochastic Model Predictive Control using Statistical Linearization of Nonlinear Dynamical System in Latent Space, CDC 2016, 2016.
• MASAKI YAMAKITA, Rin Takano. Analysis of Biped Running with Rotational Inerter, ROBIO 2016, 2016.
• MASAKI YAMAKITA, Hiroyuki Ohyama. Identification of Static Boundary Model Based on Gaussian Process Classification, IFAC AAC 2016, 2016.
• Odachi, K., Oyama, H., MASAKI YAMAKITA. Nonlinear model predictive control of SI engine using discrete time identification model, 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, pp. 1305-1310, 2015.
• Oyama, H., MASAKI YAMAKITA. Speed control of vehicles with variable valve lift engine by NMPC based on application of SDAGM with continuation method, 2015 IEEE Conference on Control and Applications, CCA 2015 - Proceedings, pp. 1026-1031, 2015.
• Seo, K.W., Kaneda, Y., MASAKI YAMAKITA, Kamamichi, N., Ishikawa, J., Ohata, A., Furuta, K.. Development and control of hybrid hardware engine simulator, 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015, pp. 1391-1396, 2015.
• MASAKI YAMAKITA, Terumitsu Hayashi. Robust Analysis of Biped Walking on Uneven Terrain Using Output Zeroing Controls, Robio 2015, 2015.
• MASAKI YAMAKITA, Hiroyuki Ohyama. A Nonlinear MPC Based on Application of a Sequential Distributed Accelerated Gradient Method to the Continuation Method, ASCC 2015, 2014.
• Liu, Y., Xin, X., MASAKI YAMAKITA. Simultaneous control of energy and actuated variable of 3-link planar robot with underactuation degree two and its application, Proceedings of the 33rd Chinese Control Conference, CCC 2014, pp. 2281-2286, 2014.
• MASAKI YAMAKITA. Wobbling Mass Effects for a Walking Robot with Inerters, SICE2014, Proc. of SICE2014, 2014.
• MASAKI YAMAKITA. Robust Walking of Biped Robot on Uneven Terrain Using Effect ofWobbling Mass, IEEE ROBIO2014, Proc. IEEE ROBIO2014, 2014.
• MASAKI YAMAKITA. Robust Self-Tuning Controller under Outliers, IEEE CDC, Proc. of IEEE CDC, 2014.
• MASAKI YAMAKITA. Fast Algorithm of Robust Kalman Filter via l1 Regression by a Closed Form Solution, IFAC Congress, Proc. of IFAC Congress, 2014.
• MASAKI YAMAKITA. Support Vector Machine data reduction for Direct Filter, IEEE CCA, Proc. of IEEE CCA, 2014.
• MASAKI YAMAKITA. Tracking control of nonlinear stochastic systems with actuator nonlinearity, AIM2014, Proc. of AIM2014, 2014.
• MASAKI YAMAKITA. On the Estimation of Systems with Discontinuities Using Continuous-Discrete Unscented Kalman Filter, ACC2014, Proc. of ACC2014, 2014.
• MASAKI YAMAKITA, Hiroki Fujii. 1D Shape Control of IPMC Film, SICE2014, Proc. of SICE2014, 2014.
• Yasuaki Kaneda, Irizuki Yasuharu, Masaki Yamakita. Design Method of Robust Kalman Filter via l1 Regression and Its Application for Vehicle Control with Outliers, 38th Annual Conf. on IEEE Industrial Electronics Society (IECON), Proc. of 38th Annual Conf. on IEEE Industrial Electronics Society (IECON), Sept. 2013.
• Kim, Y., MASAKI YAMAKITA. Model predictive path-following for bike robot, Proceedings of the SICE Annual Conference, pp. 1592-1597, 2013.
• Limkul, S., MASAKI YAMAKITA. Decomposition method with feedback compensation for parallel computation of NMPC, 2013 IEEE/SICE International Symposium on System Integration, SII 2013, pp. 155-160, 2013.
• MASAKI YAMAKITA, Hiroaki Ishiyama. Development of IPMC Prallel Mechanism, BAMN2013, 2013.
• Kinoshita, S., Hoshino, D., Yanagi, Y., Ishikawa, J., Kamamichi, N., MASAKI YAMAKITA, Ohata, A., Furuta, K.. Advanced engine simulator integrated with engine rotational hardware, IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 7, No. PART 1, pp. 665-670, 2013.
• Srang, Sarot, MASAKI YAMAKITA. Estimation of Systems with Multiple Sliding Surfaces, IEEE/SICE International Symposium on System Integration (SII), 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), IEEE, pp. 1-6, 2013.
• Y. Hanazawa, T. Hayashi, M. Yamakita, F. Asano. High-speed limit cycle walking for biped robots using active up-and-down motion control of wobbling mass, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013.
• M. Kawaguchi, M. Yamakita. Identification with Physical and Error Models for Internal Combustion Engine, IFAC AAC 2013, Proc. of IFAC AAC 2013, 2013.
• M. Kawaguchi, M. Yamakita. Identification with Physical and Error Models for Internal Combustion Engine, IFAC AAC 2013, Proc. of IFAC AAC 2013, 2013.
• H.Suda, M. Yamakita. Adaptive Optimal Control for Hybrid System, IEEE AIM2013, Proc. of IEEE AIM2013, 2013.
• S. Srang, M. Yamakita. Estimation of discontinuous friction using continuous-discrete nscented Kalman filter for adaptive compensation, IEEE AIM2013, Proc. of IEEE AIM2013, 2013.
• Yasuaki Kaneda, Yasuharu Irizuki, Masaki Yamakita. Robust Unscented Kalman Filter via l1 Regression and Design Method of Its Parameters, ASCC 2013, Proc. of ASCC 2013, 2013.
• Yasuaki Kaneda, Yasuharu Irizuki, Masaki Yamakita. Design Method of Robust Kalman FIlter for Multi Output Systems Based on Statistics, ACC 2013, Proc. of ACC 2013, 2013.
• Y.Noda, T.Sumioka, M.Yamakita. An Application of Fast MPC for Bike Robot, SICE Annual Conference, Proc. of SICE Annual Conference, Sept. 2012.
• Hanazawa, M. Yamakita. Effect of ankle elasticity on dynamic biped walking, 10th IFAC International Symposium on Robot Control (SYROCO), 2012, 10th IFAC International Symposium on Robot Control (SYROCO), 2012 (accepted), Sept. 2012.
• Y. Hanazawa, M. Yamakita. Limit cycle running based on flat-footed passive dynamic walking, IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Proc. of IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 15-20, Sept. 2012.
• T. Sumioka, M. Yamakita. Parallel Model Predictive Control with Feedback Compensation, IEEE MSC (2012), Proc. of IEEE MSC (2012) (to appear), Sept. 2012.
• T.Sadamoto, M.Yamakita. Robust Adaptive Optimal Control for Unknown Dynamical Systems for Arbitrary Cost Functions without Re-Learning, ACC 2012, Sept. 2012.
• Y.Hanazawa, H.Suda, M.Yamakita. Analysis and Experiment of Flat-Footed Passive Dynamic Walker with Ankle Inerter, Robio 2011, Sept. 2012.
• S.Pornsarayouth, M.Yamakita. Ensemble Kalman Filtering of Out-Of-Sequence Measurements for Continous-Time Model, ACC 2012, Sept. 2012.
• Sadamoto, T., MASAKI YAMAKITA. Robust adaptive optimal control for unknown dynamical systems with discontinuous cost function, Proceedings of the American Control Conference, pp. 1123-1128, 2012.
• Srang Sarot, Masaki Yamakita. Adaptive friction compensation for a position control system with Stribeck friction using hybrid unscented Kalman filter, ICCECT, Proc. of ICCECT, 2012.
• Y. Hanazawa, H. Suda, Y. Iemura, M. Yamakita. Active walking robot mimicking flat-footed passive dynamic walking, IEEE International Conference on Robotics and Biomimetics (ROBIO), Proc. International Conference on Robotics and Biomimetics (ROBIO), pp. 1281-1286, 2012.
• M. Kanai, M. Yamakita. Linear Parameter Carying Error System Modeling for Nonlinear Systems and Its Applications, MSC2011, Sept. 2011.
• Y.Kaneda, T.Sadahiro, M. Yamakita. FPGA Implementation of Digital Differentiator Using Richardson Extrapolation and High Sampling Rate Acting Like Fractional Delay, SICE 2011, Sept. 2011.
• M.Kawaguchi, M.Yamakita. Stabilizing of Bike Robot with Variable Configured Balancer, SICE 2011, Proc. of SICE2011, Sept. 2011.
• M. Kanai, M. Yamakita. LPV Error System Modeling for Nonlinear Systems, IFAC World Congress 2011, Proc. of IFAC WC 2011, Aug. 2011.
• T.Sadamoto, M.Yamakita. Robust Adaptive Optimal Control for Unknown Dynamical Systems without Re-Learning, IFAC World Congress 2011, Proc. of IFAC WC 2011, Aug. 2011.
• MASAKI YAMAKITA. Adaptive Output Optimal Control Algorithm for Unknown System Dynamics Based on Policy Iteration, ACC 2011, Proc. of ACC2010, IEEE, Aug. 2011.  公式リンク  
  
• S.Pornsarayouth, M.Yamakita. Ensemble Kalman Filter for Out of Sequence Measurements Tracking, IFAC World Congress 2011, Proc. of IFAC WC 2011, Aug. 2011.
• H. Suzuki, M. Yamakita. Input design for Hybrid System Identification for Accurate Estimation of Submodel Regions, IEEE ACC 2011, Proc. of ACC 2011, June 2011.
• T. Sadamoto, M. Yamakita. Robust Adaptive Optimal Control for Unknown Dynamical Systems, IEEE ACC 2011, Proc. of ACC 2011, June 2011.
• Lychek KEO, K.Yoshono, M. Kawaguchi, M. Yamakita. Experimental Results for Stabilization of a Bicycle with a Flywheel Balancer, IEEE ICRA 2011, Proc. of ICRA 2011, May 2011.
• S.Pornsarayouth, M. Yamakita. Ensemble Kalman Filter for Multisensor Fusion with Arbitrary n-steps Delayed Measurements, IEEE Aerospace Conference 2011, Proc. of 2011 IEEE Aerospace Conference, Mar. 2011.
• Pornsarayouth, S., Wongsaisuwan, M., MASAKI YAMAKITA. An improvement of Ensemble Kalman Filter for OOSM tracking, IFAC Proceedings Volumes (IFAC-PapersOnline), Vol. 18, No. PART 1, pp. 12003-12008, 2011.
• MASAKI YAMAKITA. Boundary Detection of Variational Symmetry Breaking Using Port-Representation of Conservation Laws, Proc. of CDC09, Dec. 2010.
• MASAKI YAMAKITA. Constrained State Estimation for Nonlinear Systems with non-Gaussian Noise, Proc. of CDC09, Dec. 2010.
• MASAKI YAMAKITA. Controlling Balancer and Steering for Bicycle Stabilization, Proc. IROS09, Oct. 2010.
• MASAKI YAMAKITA. Adaptive Output Opimal Control Algorighm for Unknown System Dynamics Based on Policy Iteration, Proc. of ICA09, Oct. 2010.
• Gou Nishida, Bernhard Maschke, Masaki Yamakita, Kazuhiro Ito. Boundary Port-Connection of Distributed Parameter Systems on Global Manifolds, NOLCOS 2010, Proc. of NOLCOS 2010, Sept. 2010.
• Lychek KEO, Masaki Yamakita, Kazuhiro Ito. Stabilizing of an Unmanned Bicycle with Flywheel Balancer, NOLCOS 2010, Proc. of NOLCOS 2010, Sept. 2010.
• K.Tanaka, M.Sugiura, M.Yamakita. Integrated Actuator-Sensor System of Bucky Gel Device, SICE 2010, Proc. of SICE 2010, Aug. 2010.
• Y.Yashiro, M.Yamakita. Robust Falling-down Avoidance Control for Acrobat Robot Using Switching Congtroller, SICE 2010, Proc. of SICE 2010, Aug. 2010.
• Yasutaka Sakai, Masaki Kanai, Masaki Yamakita. Torque demand control by nonlinear MPC for speed control of vehicles with variable valve lift engin, 6th IFAC Symposium Advances in Automotive Control, Proc. of 6th IFAC Symposium Advances in Automotive Control, July 2010.
• Keo, L., Pornsarayouth, S., MASAKI YAMAKITA, Ito, K.. Stabilization of an unmanned bicycle with flywheel balancer, IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 475-480, 2010.
• Sakai, Y., Kanai, M., MASAKI YAMAKITA. Torque demand control by nonlinear MPC with constraints for vehicles with variable valve lift engine, Proceedings of the IEEE International Conference on Control Applications, pp. 1642-1647, 2010.
• Gou, N., Maschke, B., MASAKI YAMAKITA, Ito, K.. Variational structure of distributed parameter systems with boundary connections, IFAC Proceedings Volumes (IFAC-PapersOnline), pp. 843-848, 2010.
• MASAKI YAMAKITA. Control of underactuated biped running robot via CPG, SICE2009, Proc. of SICE2009, SICE, Aug. 2009.
• MASAKI YAMAKITA. Efficient Unscented Filtering for Nonlinear Systems with State Constraints, ECC2009, Proc. of ECC2009, IEEE, Aug. 2009.
• MASAKI YAMAKITA. Speed Control of Vehicles with Variable Valve Lift Engine by Nonlinear MPC, SICE2009, Proc. of SICE2009, SICE, Aug. 2009.
• MASAKI YAMAKITA. Unscented Gaussian Sum Filtering for Interval Constrained Nonlinear Systems, SICE2009, Proc. of SICE2009, SICE, Aug. 2009.
• MASAKI YAMAKITA. Design of a Novel Central Pattern generator and the Hebbian Motion Learning, MSC2009, Proc. of MSC2009, IEEE, July 2009.
• MASAKI YAMAKITA. Controller Design of an Autonomous Bicycle with Both Steering and Balancer Controls, MSC2009, Porc. of MSC2009, IEEE, July 2009.
• MASAKI YAMAKITA. Realization of Acrobatic Turn Via Wheelie for a Bicycle with a Balancer, Proc. of ICRA2009, May 2009.
• Gou Nishida, Daiji Ichishima, Kenji KASHIMA, Kenji Fujimoto, MASAKI YAMAKITA, Bernhard Maschke, Ryojun Ikeura. Scaling reduction of port-Hamiltonian systems for numerical calculation, ICROS-SICE Int’l Joint Conf. 2009 (ICCAS-SICE 2009), pp. 686/690, 2009.
• MASAKI YAMAKITA. Topological Geometry and Control for Distributed Port-Hamiltonian Systems with Non-integrable Structures, CDC2008, Proc. of CDC2008, IEEE, Dec. 2008.
• MASAKI YAMAKITA. Design of Convex Foot for Efficient Dynamic Bipedal Walking, IROS2008, Proc. of IROS2008, IEEE, Sept. 2008.
• MASAKI YAMAKITA. Fabrication of Bucky Gel Actuator/Sensor Devices Based on Printing Method, IROS2008, Proc. of IROS2008, IEEE, Sept. 2008.
• MASAKI YAMAKITA. Robust Combined Feedfoward and Feedback Control forStart up Engine Control, Proc. of CCC2008, July 2008.
• MASAKI YAMAKITA. Trajectory Control for an Autonomous Bicycle with Balancer, Proc. of AIM2008, July 2008.
• MASAKI YAMAKITA. Adaptive generation of eigenmode by using nonlinear oscillator network, June 2008.
• MASAKI YAMAKITA. Field Port-Lagrangian Systems with Degenerate Lagrangian and External Forces, Int. Conf. on Decision and Control, Proc. of CDC 2007, IEEE, Dec. 2007.
• MASAKI YAMAKITA. Port-Representation of Bi-Hamiltonian Structure for Infinite-Dimensional Symmetry, Int. Conf. on Decision and Control, Proc. of CDC 2007, IEEE, Dec. 2007.
• MASAKI YAMAKITA. Identification of Hammerstein Systems with Piecewise Nonlinearities with Memory, Int. Conf. on Decision and Control, Proc. of CDC 2007, IEEE, Dec. 2007.
• MASAKI YAMAKITA. Development of Autonomous Bike Robot with Balancer, SICE2007, Proc. of SICE2007, Sept. 2007.
• MASAKI YAMAKITA. Falling Avoidance Control of Acrobat Robot by Reinforcement Learning, SICE2007, Proc. of SICE2007, Sept. 2007.

国内会議発表 (査読有り)

• T.Kawamura, M. Yamakita. Nonlinear model reduction based on stochastic obsevability, ACC2020, Proc. of ACC2020, July 2020.
• 山北昌毅, 川口 正浩. F071001 エンジン制御の基礎と応用([F07100]エンジンシステム部門企画,エンジンの最新制御技術), 年次大会 : Mechanical Engineering Congress, Japan, 一般社団法人日本機械学会, Vol. 2014, pp. "F071001-1"-"F071001-2", Sept. 2014.
• 山北昌毅, 大山博之. C/GMRES法への数値最適化手法の応用, 第58回システム制御情報学会研究発表講演会, 第58回システム制御情報学会研究発表講演会予稿集, 2014.
• 山北昌毅, 林映光, 花澤雄太. SLIP モデルのダイナミクスを利用した高速リミットサイクル走行, 第32 回日本ロボット学会学術講演会, 第32 回日本ロボット学会学術講演会予稿集, 2014.
• 花澤雄太, 山北昌毅. 足首に機械的インピーダンスを有する平面足受動歩行に基づいた平面足2足ロボットのリミットサイクル走行, Robomec2012, Sept. 2012.
• 金田泰昌, 入月康晴, 山北昌毅. 外れ値を含むセンサ情報に対する微分推定, 第56回システム制御情報学会研究発表講演会, 第56回システム制御情報学会研究発表講演会, pp. 641--642, Sept. 2012.
• Y.Yashiro, S.Limkul, M.Yamakita. Output Regulation of Nonlinear Systems Using LPV Error Systems, IEEE MSC (2012), Proc. of IEEE MSC (2012) (to appear), Sept. 2012.
• 山北昌毅. 未知システムに対する適応最適制御の一手法, 第５３回システム制御情報学会研究発表講演会, 第５３回システム制御情報学会研究発表講演会資料, システム制御情報学会, May 2009.

国際会議発表 (査読なし・不明)

• MASAKI YAMAKITA, Hiroki Sasaki. Study on Mechanism and Control of High Efficiency Running Biped Robot, SICE 2017, 2017.
• MASAKI YAMAKITA, Syougou Yin. Passive Velocity Field Control to Bicycle Robot Path Following, SICE 2016, 2016.
• MASAKI YAMAKITA, Kawng Seo. Long-Term Prediction for Recursive Gaussian Process, SICE 2016, 2016.
• MASAKI YAMAKITA, Hiroyuki Ohyama. Stochastic Model Predictive Control Based on Data-Driven Linearization of Nonlinear System in Augmented Latent Space, SICE 2016, 2016.
• MASAKI YAMAKITA, Shinji Ishihara. Continuous-discrete robust UKF for nonlinear systems with parameteruncertainties, The 48th International Symposium on Stochastic Systems Theory and Its Applications (SSS) (2016), 2016.
• MASAKI YAMAKITA, Terumitsu Hayashi. High speed running of flat foot biped robot with inerter using SLIP model, AIM2015, 2015.
• Yasuaki Kaneda, Teruyoshi Sadahiro, Masaki Yamakita. Reduction of Discretizatoin Errors of Dynamics with Variable Structures and Its Realization using FPGA, IEEE Conf. on Control Application (CCA) (2012) ), Proc. of IEEE Conf. on Control Application (CCA) (2012) (to appear), Sept. 2012.
• N.Kamamichi, M.Yamakita, K.Asaka, Z.W.Luo, T.Mukai. Sensor Property of a Novel EAP Device with Inonic-liquid-based Bucky Gel, International Conference on Intelligent Robotic Systems(IROS)2007, IEEE, pp. -, Oct. 2007.
• S.Hara, H.Iwadate, M.Yamakita. Control Engineering Education through AUN/SEED-Net, SICE Annual Conference 2007, SICE, pp. -, Sept. 2007.
• M.Yamakita, W.Manop, S.Hara. Benchmark Problem on Control Engineering, SICE Annual Conference 2007, SICE, pp. -, Sept. 2007.
• N. Miyashita, M. Yamakita. Identification of Hammerstein Systems with Piecewise-Affine Nonlinearities, American Control Conference 2007, IEEE, pp. -, July 2007.
• H.Sasaki, M.Yamakita. Efficient Walking Control of Robot with Torso Based on Passive Dynamic Walking, International Conference on Mechatronics 2007, IEEE, pp. -, May 2007.
• Gou Nishida, Masaki Yamakita, Zhiwei Luo. Field Port-Lagrangian Representation of Conservation Laws for Variational Symmetries, CDC2006, IEEE, pp. -, Dec. 2006.
• J.Lee, M.Yamakita. Nonlinear Model Predictive Control for Constrained Mechanical Systems with State Jump, CCA2006, IEEE, pp. 585-560, Oct. 2006.
• H. Nakamura, G. Nishida, H. Nishitani, Y. Yamashita, MASAKI YAMAKITA. Stabilization of Nonlinear Planer Systems using Homogeneous Eigenvalues, SICE-ICCAS 2006, SICE, pp. -, Oct. 2006.
• T.Takahashi, M.Yamakita, K.Kozuki, S.Hyon. An Optimization Approach for Underactuated Running Robot, SICE-ICCAS 2006, SICE, pp. -, Oct. 2006.
• T.Tokusho, J.Lee, M.Yamakita. Landing Control of Acrobat Robot by RHC -Experimental Evaluation -, SICE-ICASE 2006, SICE, pp. -, Oct. 2006.
• M.Yamakita, K.Sekiguchi, A.Utano. Experimental Study of Automatic Control of Bicycle with Balancer, IROS2006, IEEE, pp. -, Oct. 2006.
• M.Saito, M.Yamakita. MPC for a Simplified Transmission Model with Backlash Using UKF, CCA2006, IEEE, pp. 527-532, Oct. 2006.
• G. Nishida, M. Yamakita, Z. Luo. Global Boundary Connection of Stokes-Dirac Structures for Morse-Smale Flows on Compact Manifolds, 17th International Symposium on Mathematical Theory of Networks and Systems, IEEE, pp. -, Sept. 2006.
• G. Nishida, M. Yamakita, Z. Luo. Virtual Lagrangian Construction Method for Infinite Dimensional Systems with Homotopy Operators, 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, IFAC, pp. -, Sept. 2006.
• N.Miyashita, M.Kishikawa, M.Yamakita. 3D Motion Control of 2 links (5 D.O.F.) Underactuated Manipulator named AcroBOX, ACC2006, IEEE, pp. 5614-5619, June 2006.
• N.Kamamichi, M.Yamakita. A Snake-like Swimming Robot Using IPMC Actuator/Sensor, ICRA2006, IEEE, pp. 1812-1817, May 2006.
• M.Yamakita, A.Sera, N.Kamamichi, L.Luo, K.Asaka. Integrated Design of IPMC Actuator/Sensor, ICRA2006, IEEE, pp. 1832-1839, May 2006.
• M.Yamakita, N.Kamamichi, T. Kozuki, K.Asaka, Z.W. Luo. Control of Biped Walking Robot with IPMC Linear Actuator, AIM２００５, pp. ４８－５３, 2005.
• T.IKeda; T. Mita;M. Yamakita. Formation Control of Autonomous　Underwater Viheicles, IFAC　２００５, pp. １００, 2005.
• M.Yamakita, A.Taura, Y.Onodera. An Application of Nonlinear Receding Horizon Control to osture Control with Collisions, AIM2005, pp. 1505-1511, 2005.
• M.Yamakita, A.Utano. Automatic Control of Bicycles with a Balancer, AIM 2005, pp. 1245-1250, 2005.
• M. Yamakita, N. Kamamichi, T.Kozuki, K. Asaka, Z.W. Luo. A Snake-Like Swimming Robot Using IPMC Actuator and erification of Doping Effect, IROS 2005, pp. 3333-3339, 2005.
• Y. Onodera, M. Yamakita. An Extension of Nonlinear Receding Horizon Control for witched System with State Jump, IROS 2005, Proc. of IROS 2005, pp. 3862-3868, 2005.

国内会議発表 (査読なし・不明)

• 山北昌毅, 大山博之. ガウス過程を用いたエンジンノックのモデル化とその制御, 第５回制御部門マルチシンポジウム予稿集, 2018.
• 山北昌毅, 高野凛. 観測外乱にロバストなCLF-CBF-QP制御, 第５回制御部門マルチシンポジウム予稿集, 2018.
• 山北昌毅, 大山博之. ロバスト逐次ガウス過程を用いた自動車エンジンモデルの学習, 自動制御連合講演会予稿集, 2017.
• 山北昌毅, 宮原遼太郎. バイクロボットの経路追従制御, 第３５回日本ロボット学会学術講演会予稿集, 2017.
• 山北昌毅, 石原新士. 近似最小分散不偏推定を用いた非線形システムの状態量とパラメータの同時推定手法, 第4回制御部門マルチシンポジウム(2017), 2017.
• 山北昌毅, 徐光佑. ロバスト逐次ガウス過程, 第4回制御部門マルチシンポジウム(2017), 2017.
• 山北昌毅, 大山博之. エンジンベンチマークシミュレータを用いた制御モデル学習手法の検証, 日本シミュレーション学会論文誌, Vol. 9, No. 3, 2017.
• 山北昌毅, 高野凛. 外乱を考慮したCLF-CBF-QPの提案, 自動制御連合講演会予稿集, 2017.
• 山北昌毅, 遠藤直輝. 等式状態制約を有する非線形確率システムの状態推定に関する研究, 第３回制御部門マルチシンポジウム, 第３回制御部門マルチシンポジウム予稿集, 2016.
• 山北昌毅, 大山博之. 連続変形法へ逐次分散加速勾配法を応用した非線形モデル予測制御, 第２回制御部門マルチシンポジウム, 第２回制御部門マルチシンポジウム予稿集, 2016.
• 山北昌毅, 高野凛. 斜面を利用した高効率かつ漸近安定なSLIPモデルの走行制御, 第３４回日本ロボット学会学術講演会, 第３４回日本ロボット学会学術講演会予稿集, 2016.
• 山北昌毅, 高野凛. イナーターを有する高速走行に適したI-SLIPモデル, 第３４回日本ロボット学会学術講演会, 第３４回日本ロボット学会学術講演会予稿集, 2016.
• 山北昌毅, 高野凛. 回転型イナータの適用部位の違いによる2足移動ロボットの移動性能変化, 第３４回日本ロボット学会学術講演会, 第３４回日本ロボット学会学術講演会予稿集, 2016.
• 山北昌毅, 尻江知彦. 一軸IPMCの適応型モデル予測制, 第３４回日本ロボット学会, 学術講演会予稿集, 2016.
• 山北昌毅, 石原新士. 不確かさの影響が観測可能な非線形システムにおけるゲイン拘束ロバストUKF, 第３回制御部門マルチシンポジウム, 第３回制御部門マルチシンポジウム予稿集, 2016.
• 山北昌毅, 高野凛. 足首にイナーターを持つ歩行ロボットに対する揺動質量の効果, SI2015, 第15 回システムインテグレーション部門講演会予稿集, 2015.
• 山北昌毅, 石原新士. パラメータ不確かさを有する線形観測非線形システムにおける, 第２回制御部門マルチシンポジウム, 第２回制御部門マルチシンポジウム予稿集, 2015.
• 山北昌毅, 石原新士. パラメータ不確かさを有する非線形観測システムにおけるロバストＵＫＦ, 自動制御連合講演会, 自動制御連合講演会予稿集, 2015.
• 山北昌毅, 金田泰昌. l1正則化を用いたロバストカルマンフィルタの高速アルゴリズム, 第1回制御部門マルチシンポジウム, 第1回制御部門マルチシンポジウム 予稿集, 2014.
• 山北昌毅, 石山博章. SVMを用いたデータ削減によるDirect Filterの高速化手法の提案, 第一回制御部門マルチシンポジウム, 第一回制御部門マルチシンポジウム 予稿集, 2014.
• 徐 光佑, 山北昌毅. ロバスト・セルフチューニングコントローラを用いたエンジンシミュレータ制御, 自動制御連合講演会講演論文集, 自動制御連合講演会, Vol. 57, pp. 1779-1782, 2014.
• 山北昌毅, 林映光. 揺動質量の効果を用いた高速リミットサイクル走行, 第15 回システムインテグレーション部門講演会, 第15 回システムインテグレーション部門講演会予稿集, 2014.
• 山北昌毅. 離散同定モデルを用いたSIエンジンの非線形モデル予測制御, 第57回自動制御連合講演会, 第57回自動制御連合講演会予稿集, 2014.
• 山北昌毅. 連続法へ数値最適化手法を応用した並列非線形モデル予測制御, 第57回自動制御連合講演会, 第57回自動制御連合講演会予稿集, 2014.
• 山北昌毅. C/GMRES法への数値最適化手法の応用, 第58回システム制御情報学会研究発表講演会(SCI’14), 第58回システム制御情報学会研究発表講演会予稿集(SCI’14), 2014.
• 山北昌毅. 外れ値環境下におけるロバスト Self-Tuning Controller, 第1回制御部門マルチシンポジウム, 第1回制御部門マルチシンポジウム 予稿集, 2014.
• 花澤, 須田, 家村, 山北. 平面足受動歩行を模倣する能動リミットサイクル歩行ロボット, 第３０回日本ロボット学会学術講演会, 第３０回日本ロボット学会学術講演会資料, Sept. 2012.
• 原, 田中, 山北. バイクロボットの適応最適制御による安定化, 第３０回日本ロボット学会学術講演会, 第３０回日本ロボット学会学術講演会資料, Sept. 2012.
• 石山博章, 原幹也, 山北昌毅. 最適適応制御によるIPMCの制御実験, 第３０回日本ロボット学会学術講演会, 第３０回日本ロボット学会学術講演会資料, Sept. 2012.
• 彌城, 山北. LPV誤差システムを用いた非線形システムの出力レギュレーション, 第３回プラントモデリング・第１２回適応学習制御合同シンポジウム, 第３回プラントモデリング・第１２回適応学習制御合同シンポジウム資料, Sept. 2012.
• 田中, 山北. 入力直達項のあるシステムに対する適応出力最適制御について, 第３回プラントモデリング・第１２回適応学習制御合同シンポジウム, 第３回プラントモデリング・第１２回適応学習制御合同シンポジウム資料, Sept. 2012.
• Yusuke Yashiro, Sirichai Pornsarayouth, Suthira Limkul, MASAKI YAMAKITA. Robust Filtering for Nonlinear Systems with Sparcification Algorithm, 第５６回システム制御情報学会研究発表講演会, 第５６回システム制御情報学会研究発表講演会資料, Sept. 2012.
• Sirichai Pornsarayouth, Masaki Yamakita. Using Ensemble Kalman Filter for Centralized Sensor Fusion, 30th Annual Conference of the Robotics Society of Japan, 30th Annual Conference of the Robotics Society of Japan, Sept. 2012.
• 花澤, 山北. 2足歩行ロボットの足首弾性による蹴り出しの効果, SICE SI部門講演会, SICE SI部門講演会資料, Sept. 2011.
• 山北昌毅. MPCの並列計算による高速化について, 第３回SICEプラントモデリングシンポジウム, 第３回SICEプラントモデリングシンポジウム資料, pp. 93/98, Sept. 2011.
• 金井, 山北. 非線形システムに対するLPV誤差システムモデリング, 第３回SICEプラントモデリングシンポジウム, 第３回SICEプラントモデリングシンポジウム資料, pp. 9/14, Sept. 2011.
• 花澤, 山北. 足首に機械的インピーダンスを有する2足ロボットの歩行解析, 第２９回日本ロボット学会学術講演会, Sept. 2011.
• 花澤, 須田, 山北. イナーターを有する受動歩行を規範とした歩行実験, 第２９回日本ロボット学会学術講演会, Sept. 2011.
• 花澤, 須田, 山北. イナーターを有する平面足受動歩行機の設計と実験, 第２９回日本ロボット学会学術講演会, 第２９回日本ロボット学会学術講演会資料, Sept. 2011.
• 山北昌毅, 堺 靖貴, 金井 政樹. F071002 非線形システムの状態推定とエンジンのモデル予測制御([F07100](エンジンシステム部門企画),エンジンのモデリングと制御の先端技術), 年次大会 : Mechanical Engineering Congress, Japan, 一般社団法人日本機械学会, Vol. 2011, pp. "F071002-1"-"F071002-5", Sept. 2011.
• 花澤, 山北. 平面足受動歩行を規範とした準受動歩行, Robomec 2011, Robomec 2011資料, May 2011.
• 定本, 山北. 不連続評価関数を持つ未知システムに対するロバスト最適適応制御, 第５５回システム制御情報学会研究発表講演会, 第５５回システム制御情報学会研究発表講演会資料, May 2011.
• 金井 政樹, 山北 昌毅. 非線形システムに対するLPV誤差システムの制御手法への応用, 第１１回SICE 制御部門大会, 第１１回SICE 制御部門大会資料, Mar. 2011.
• 定本, 山北. 未知システムに再学習なしロバスト最適適応制御, 第１１回 適応学習制御シンポジウム, 第１１回 適応学習制御シンポジウム資, Jan. 2011.
• 花澤, 山北. イナーターを有する足を用いた受動歩行, 第28回日本ロボット学会学術講演会, Sept. 2010.
• 山北昌毅. Liquid Environment-Adaptive IPMC Fish-Like Robot using Extremum Seeking Feedback, 第8回適応学習シンポジウム, 第8回適応学習シンポジウム資料, Jan. 2008.
• 山北昌毅. プリント技術によるバッキーゲルアクチュエータセンサーの試作と検討, 第25回日本ロボット学会学術講演会, Sept. 2007.
• 山北 昌毅. Effect of the Foot Shape on the Passive Biped Waking, ロボメカ講演会, June 2007.
• 佐々木　裕丈, 山北　昌毅. 上体を考慮した受動歩行規範2足歩行の高効率歩行の実現, 第7回計測自動制御学会システムインテグレーション部門講演会, 計測自動制御学会, pp. -, Dec. 2006.
• 中土井, 瀬良, 山北, 安積, 羅. 電気的干渉を考慮したIPMCアクチュエータセンサ併合系の構築, SI2006, 計測自動制御学会, pp. -, Dec. 2006.
• 山北. 受動性の原理に基づく方法は何故有効化？, SI2006, 計測自動制御学会, pp. -, Dec. 2006.
• 斉藤, 山北. UＫＦを用いたバックラッシュ系のモデル予測制御, 自動連合講演会, 自動制御連合講演会資料, pp. -, Nov. 2006.
• 西田 豪, 山北 昌毅, 羅 志偉. Stokes-Dirac構造と指数定理，第35回制御理論シンポジウム, 第35回制御理論シンポジウム, pp. -, Sept. 2006.
• 釜道, 山北, 安積, 向井. バッキーゲル素子のセンサ機能の検証, 第２４回日本ロボット学会学術講演会, 日本ロボット学会, pp. -, Sept. 2006.
• 西田 豪, 山北 昌毅, 羅 志偉. 保存則のポート表現による変分対称性崩壊の境界検出, 第6回計測自動制御学会制御部門大会, 計測自動制御学会, pp. -, June 2006.

その他の論文・著書など

• 山北昌毅, 大山博之. 逐次ガウス過程回帰を用いたロバスト推定とその応用, システム制御情報学会誌, Vol. 62, No. 10, 2018.
• 石原 新士, 山北昌毅. 不確定性を考慮したカルマンフィルタと自動車分野への応用, 計測と制御, 公益社団法人 計測自動制御学会, Vol. 56, No. 9, pp. 683-686, 2017.
• 山北昌毅, 川口 正浩. 物理・統計誤差モデリングとその応用, 計測と制御, 公益社団法人 計測自動制御学会, Vol. 53, No. 4, pp. 290-295, 2014.
• 山北昌毅. 国際デザインコンテスト (IDCロボコン) 2012, フルードパワーシステム : 日本フルードパワーシステム学会誌 : journal of the Japan Fluid Power System Society, 日本フルードパワーシステム学会, Vol. 44, No. 1, pp. 21-24, Jan. 2013.
• 山北昌毅. 非線形カルマンフィルタ（片山徹著）, システム制御情報学会誌(書評）, 2012.
• 山北昌毅. 国際ロボットコンテスト（IDC ロボコン）in 上海, フルードパワーシステム, Jan. 2011.
• 山北昌毅, 定本知徳. 粒子的カルマンフィルターとその応用, 計測と制御, Vol. 50, No. 11, pp. 963/968, 2011.
• 山北昌毅. UFK(Unscented Kalman Filter)とKFはどうちがうの？, システム制御情報学会誌, システム制御情報学会, Vol. 53, No. 7, July 2009.
• 山北昌毅. ロボット制御理論概論, 日本ロボット学会誌, 日本ロボット学会, Vol. 27, No. 7, pp. 2/6, May 2009.
• 山北昌毅. IDCロボコンを通じた創成活動と国際交流, 工学教育, 日本工学協会, Vol. 56, No. 3, pp. 113-117, May 2008.
• 山北, 武者. UKFって何？, システム制御情報学会, Vol. 50, No. 6, June 2006.

特許など

• 山北昌毅, 徳田俊平, 高野　凜, 大山　博之. 制御システム、制御方法およびプログラム. 特許. 公開. 国立大学法人東京工業大学, 日本電気株式会社. 2021/09/27. 特願2021-157199. 2023/04/06. 特開2023-047980. 2023.
• 山北昌毅, 畑　謙佑　, 井上　孝　. アクチュエータ装置. 特許. 登録. 国立大学法人東京工業大学, 株式会社デンソー. 2014/09/03. 特願2014-179353. 2016/04/14. 特開2016-054605. 特許第6398486号. 2018/09/14 2018.
• 山北昌毅, 釜道　紀浩, 安積　欣志, 羅　志偉. センサ機能付き統合型ソフトアクチュエータ. 特許. 登録. 国立大学法人東京工業大学, 独立行政法人産業技術総合研究所, 独立行政法人理化学研究所. 2006/05/29. 特願2006-148152. 2007/12/06. 特開2007-318960. 特許第5114722号. 2012/10/26 2012.

学位論文

• 仮想目標入力生成に関する研究,  本文,  Doctor of Engineering,  Tokyo Institute of Technology,  1989/--/--, 

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