発表論文

著書

渋谷恒司，メカトロニクスの基礎 第２版，ISBN 978-4-627-67522-3, 森北出版，2023.

バイオメカニズム学会　編，手の百科事典，第IV編　生活編　第12章　弦楽器の演奏　分担執筆，朝倉書店，ISBN978-4-254-10267-3，2017.

渋谷恒司，メカトロニクスの基礎，ISBN 978-4-627-67521-6, 森北出版，2016.

Koji Shibuya, "Violin Playing Robot and Kansei," in Jorge Solis and Kia Ng (Eds.), "Musical Robots and Interactive Multimodal Systems," Springer Tracts in Advanced Robotics Volume 74, Chapter 11, pp.179-193, 2011.

日本機械学会編，機械工学便覧　応用システム編γ9　医療・福祉・バイオ機器，9.5節（pp.156-158）担当，2008.

論文

Koji Shibuya, and Daiki Nishida, "Bow Force-Adjusting System by Artificial Hand with Inflatable Mechanism," Journal of Robotics and Mechatronics, Vol. 37, No. 1, pp. 54-63, 2025. DOI: 10.20965/jrm.2025.p0054

Kenzo Horigome, and Koji SHibuya, "Motion-generation System for Violin-playing Robot Using Reinforcement Learning Differences in Bowing Parameters due to Changes in Learning Conditions and Sound Pressure Values," Frontiers in Robotics and AI, Vol. 11, 2024, DOI: 10.3389/frobt.2024.1439629

西村郁哉，福原裕志，渋谷恒司，「強化学習によるバイオリン演奏ロボットの動作生成　ー割引率と探索率の弓運動への影響ー」，日本ロボット学会誌，40(10), Dec. 2022. DOI: 10.7210/jrsj.40.924

Hiep Trinh, Van Ho, and Koji Shibuya, "Theoretical Foundation for Design of Friction-Tunable Soft Finger with Wrinkle's Morphology," IEEE Robotics and Automation Letters, 4(4), 4027 - 4034, 2019, DOI: 10.1109/LRA.2019.2926960 (RA-Letters with IROS Option)

Hiep Xuan Trinh, Yuki Iwamoto, Van Anh Ho, and Koji Shibuya, "Localization of Sliding Movements Using Soft Tactile Sensing Systems with Three-axis Accelerometers," Sensors, 19(9), 2036, 2019, DOI: 10.3390/s19092036

Hiep Xuan Trinh, Van Anh Ho, and Koji Shibuya, "Computational model for tactile sensing system with wrinkle’s morphological change," Advanced Robotics, 34(21), 1135-1150, 2018, DOI: 10.1080/01691864.2018.1525322

Van Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai, and Koji Shibuya, "Wrin'Tac: Tactile Sensing System with Wrinkle's Morphological Change," IEEE Transactions on Industrial Informatics, 13(5), 2496 - 2506, 2017, DOI: 10.1109/TII.2017.2718660

Koji Shibuya and Shunsuke Issiki, "Evaluation of Metallic Mold Surfaces Polished by an Industrial Robot with Stick Whetstones," International Journal of Automation Technology, 8(2), 253-263, 2014, DOI: 10.20965/ijat.2014.p0253

Koji Shibuya, Yukihiro Kishimoto, and Sho Yoshii, "Depth Control of Underwater Robot with Metal Bellows Mechanism for Buoyancy Control Device Utilizing Phase Transition," Journal of Robotics and Mechatronics, 25(5), 795-803, 2013, DOI: 10.20965/jrm.2013.p0795

Koji Shibuya and Sho Yoshii, "New Volume Change Mechanism Using Metal Bellows for Buoyancy Control Device of Underwater Robots," ISRN Robotics, 2013, Article ID 541643, 7 pages, 2013. DOI:10.5402/2013/541643

Koji Shibuya, Hironori Ideguchi and Katsunari Ikushima "Volume Control by Adjusting Wrist Moment of Violin-playing Robot," International Journal of Synthetic Emotions, 3(2), 31-47, 2012, DOI: 10.4018/jse.2012070102

渋谷恒司，井上智隆，河合光太，「マッコウクジラの脳油説に基づく物質の相変化を利用した２段ピストン型体積変化型浮力調整装置の開発」，バイオメカニズム学会誌，34(3)，254-258，2010.

Koji Shibuya and Shoji Matsuda, "Offline Sound Volume Feedback Algorithm for a Violin-Playing Robot," Kansei Engineering International Journal, 9(2), 81-86, 2010.

Koji Shibuya and Kota Kawai, "Development of a New Buoyancy Control Device for Underwater Vehicles Inspired by the Sperm Whale Hypothesis," Advanced Robotics, 23(7-8), 831-846, 2009, DOI:10.1163/156855309X443007

Hironao OKADA, Taro IWAMOTO and Koji SHIBUYA, "Rescue Robot Vehicle for Water Disaster with Variable Configuration Segmented Wheels," Journal of Robotics and Mechatronics, 18(3), 278-285, 2006, doi: 10.20965/jrm.2006.p0278,

古川康一，植野研，尾崎知伸，神里志穂子，川本竜史，渋谷恒司，白鳥成彦，諏訪正樹，曽我真人，瀧寛和，藤波努，堀聡，本村陽一，森田想平，「身体知の潮流－身体知の解明に向けて－」，人工知能学会論文誌，20(2)，117-128，2005.

岩本太郎，渋谷恒司，「可変翼車輪を用いたロボットビークルの構想と機構」，日本機械学会論文誌（Ｃ編），71(701)，171-177，2005.

岩本太郎，藤間淳史，渋谷恒司，「斜面におけるロール角センサを用いた最大傾斜方向への誘導制御」，日本機械学会論文誌（Ｃ編），70(697)，2646-2651，2004.

渋谷恒司，深津紘志，小松重紀，「バイオリン・ボーイング動作における音色表現語の右腕動作に与える影響」，バイオメカニズム学会誌，28(3)，146-154，2004.

Taro Iwamoto, Koji Ohara, Koji Shibuya, "Fast Distance Measurement Method by Parallel-Shift-Arrangement Stereoscopic Camera," Journal of Robotics and Mechatronics, 15(3), 314-321, 2003, DOI: 10.20965/jrm.2003.p0314

S. Hashimoto, S. Narita, H. Kasahara, K. Shirai, T. Kobayashi, A. Takanishi, S. Sugano, J. Yamaguchi, H. Sawada, H. Takanobu, K. Shibuya, T. Morita, T. Kurata, N. Onoe, K. Ouchi, T. Noguchi, Y. Niwa, S. Nagayama, H. Tabayashi, I. Matsui, M. Obata, H. Matsuzaki, A. Murasugi, T. Kobayashi, S. Haruyama, T. Okada, Y. Hidaki, Y. Taguchi, K. Hoashi, E. Morikawa, Y. Iwano, D. Araki, J. Suzuki, M. Yokoyama, I. Dawa, D. Nishino, S. Inoue, T. Hirano, E. Soga, S. Gen, T. Yanada, K. Kato, S. Sakamoto, Y. Ishii, S. Matsuo, Y. Yamamoto, K. Sato, T. Hagiwara, T. Ueda, N. Honda, K. Hashimoto, T. Hanamoto, S. Kayaba, T. Kojima, H. Iwata, H. Kubodera, R. Matsuki, T. Nakajima, K. Nitto, D. Yamamoto, Y. Kamizaki, S. Nagaike, Y. Kunitake AND S. Morita, "Humanoid Robots in Waseda University-Hadaly-2 and WABIAN," Autonomous Robots, 12(1), 25-38, 2002, DOI: 10.1023/A:1013202723953

渋谷恒司，浅田貴司，菅野重樹，「印象角と印象長を用いた音色と演奏法の関係の記述，ヒューマンインタフェース学会論文誌」，3(4)，55-63，2001.

渋谷恒司，菅野重樹，「心理実験によるバイオリン演奏におけるボーイングパラメータと音色表現語の対応付け」，バイオメカニズム15，153-164，2000.

渋谷恒司，菅野重樹，「バイオリン演奏における感性表現としての音色と運動の関係」，計測自動制御学会論文集，32(8)，1259-1266，1996.

渋谷恒司，菅野重樹，「バイオリン演奏の弓圧調節における上肢各関節の役割分担」，人間工学，31(5)，347-354，1995.

渋谷恒司，菅野重樹，加藤一郎，「バイオリン右腕ボーイング動作におけるスキルの分析」，人間工学，30(6)，395-403，1994.

国際会議論文

Y. Nakayama, A. Van Ho and K. Shibuya, "Deformable Soft Tactile Sensing System Integrating Electropermanent Magnet and Magnetorheological Fluid," 2024 IEEE/SICE International Symposium on System Integration (SII2024, Ha Long, Vietnam), 60-65, 2024, doi: 10.1109/SII58957.2024.10417588

Koji Shibuya, and Daiki Nishida, "Design of Violinist Robot's Right Hand for Bow Hold with Inflatable Soft Mechanism," 2022 19th International Conference on Ubiquitous Robots (UR 2022), 88-93, 2022, doi: 10.1109/UR55393.2022.9826267

Koji Shibuya, Kento Kosuga, and Hiroshi Fukuhara, "Bright and Dark Timbre Expressions with Sound Pressure and Tempo Variations by Violin-playing Robot," 2020 IEEE/RSJ International Conference on Robot and Human Interactive Communication (RoMan2020, Virtual),2020, 482-487, doi: 10.1109/RO-MAN47096.2020.9223503

Koji Shibuya, Mihikiro Uenishi, and Van Anh Ho, "Preliminary Experiments Conducted on Prototypes of Sensitivity-changeable Soft Tactile Sensors Utilizing Phase Change," 2020 17th International Conference on Ubiquitous Robots (UR)(Virtual Conference),44-49, 2020, doi: 10.1109/UR49135.2020.9144791

Yuki Iwamoto,Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Koji Shibuya, and Claudio Melchiorri,"A Low Cost Tactile Sensor for Large Surfaces Based on Deformable Skin with Embedded IMU," 3RD IEEE International Conference on Industrial Cyber-Physical Systems (ICPS2020, Tampare, Finland), 501-506, 2020, doi: 10.1109/ICPS48405.2020.9274737

Hiep Trinh, Van Ho, and Koji Shibuya, "Theoretical Foundation for Design of Friction-Tunable Soft Finger with Wrinkle's Morphology," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019, Macau, China), 2019. (RA-Letters with IROS Option)

Koji Shibuya, Yuki Iwamoto, Hiep Xuan Trinh, Van Anh Ho, "Detecting Sliding Movement Location on Morphologically Changeable Soft Tactile Sensing System with Three-Axis Accelerometer, Proc. of 2019 IEEE International Conference on Soft Robotics (Robosoft2019, Seoul, Korea), 2019.

Koji Shibuya and Hiroyuki Ishimoto, "Design Principles of Loudness to Express Bright and Dark Timbres for Violin-playing Robot," Proc. of the27th IEEE International Symposium on Robot and Human Interactive Communication (RoMan2018, Nanjing, China), 262-267, 2018.

Hiep Xuan Trinh, Van Anh Ho, and Koji Shibuya, "Tactile Sensing System with Wrinkle's Morphological Change: Modeling," Proc. of First IEEE-RAS International Conference on Soft Robotics (RoboSoft2018, Livorno, Italy), 2018, DOI: 10.1109/ROBOSOFT.2018.8404946

Koji Shibuya, Katsuhisa Jimu and Tomoya Yamashita, "Novel Volume-expanding Mechanism for Large Buoyancy Change," Proc. of 20th International Conference on Climbing and Walking Robots and the Support Technologies of Mobile Machines (CLAWAR2017, Porto), 563-570, 2017.

Van Anh Ho, Hideyasu Yamashita, Zhongkui Wang, Shinichi Hirai and Koji Shibuya, "Morphological Computation in Tactile Sensing: The Role of Wrinkle," Proc. of 2017 IEEE International Conference on Robotics and Automation (ICRA2017, Singapore), 4977-4984, 2017.

Van Ho, Hideyasu Yamashita, Koji Shibuya, Zhongkui Wang, Shinichi Hirai, Jun-ya Nagase and Kazuyoshi Tsutsumi, "Active Tactile Sensing Based on Soft Morphological Deformation," Proc. of 2016 IEEE/SICE International Symposium on System Integration, 415-420, 2016.

H.Yamaoto and K. Shibuya, "New Small Buoyancy Control Device with Silicone Rubber for Underwater Vehicles," Proc. of 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2016, London, U.K.), 258-265, 2016.

Koji Shibuya and Natsumi Hasegawa, "How Violinists Alter Sound Volume and Tempo When Expressing Bright and Dark Timbres", Proc. of the IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN2016, New York, U.S.), 138-143, 2016. (Best Paper Award in Theoretical Category受賞)

K. Shibuya, T.Yamada, and R. Uramatsu, "Locomotion Cost in Trotting Gait of Four-legged Robot," Proc. of 18th International Conference on Climbing and Walking Robots(CLAWAR2015, Hangzhou, China), 397-404, 2015.

Koji Shibuya and Yuji Urakubo "New Foot Mechanism with One and Two Longitudinal Arches for Biped Robots," Proc. of 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2014, Poznan, Poland), 175-182, 2014.

Kyoko Nishimura, Kazuyoshi Tsutsumi, Shinji Sakio, and Koji Shibuya, "Design and Prototyping of Active-Suspension Based 4-Legged Running Robot with Anteroposterior Asymmetry in Body," Proc. of 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2013, Sydney, Australia), 471-478, 2013.

Koji Shibuya and Kenji Matsuhira, "Effects of Neck Swing Motion on the Body Posture of a Four-legged Robot," Proce. of 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2013, Sydney, Australia), 503-510, 2013. (Second Prize of CLAWAR Association Best Technical Paper Award受賞)

Tomotaka Inoue, Koji Shibuya and Akinori Nagano, "Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis - Development of the Depth Control System -," Proc. of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010, Taipei, Taiwan), 1102-1107, 2010.

Koji Shibuya and Takaya Fukui, "Influences of Toe Trajectries and Head Motions on Gaits of a Four-legged Robot," Proc. of 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010, Nagoya, Japan), 493-500, 2010.

Koji Shibuya, Shoji Matsuda and Akira Takahara, "Toward Developing a Violin Playing Robot - Bowing by Anthropomorphic Robot Arm and Sound Analysis -," Proc. of 16th IEEE International Symposium on Robot and Human Interactive Communication(RO-MAN 2007, Jeju Island, Korea), 763-768, 2007.

Koji Shibuya, Yuichi Kado, Suguru Honda, Taro Iwamoto and Kazuyoshi Tsutsumi, "Underwater Robot with a Buoyancy Control System Based on the Sperm Oil Hypothesis," Proc. of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2006, Beijing, China), 3012-3017, 2006.

M. Makikawa, S. Asajima, K. Shibuya, R.Tokue, K. Kohashi, H. Shinohara, "Portable Physical Activity Monitoring System for the Evaluation of Activity of the Aged in Daily Life," The 2nd Joint EMBS/BMES Conference(Houston, TX, USA), 1908-1909, 2002.

K. Shibuya, T. Ogawa and S. Komatsu, "Influence of Pleasant and Unpleasant Feelings on Human Gesture Motion," Proc. of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2002, Lausanne, Switzerland), 1240-1245, 2002.

Tetsuya Ogata, Akitoshi Shimura, Koji Shibuya and Shigeki Ssugano, "A Violin Playing Algorithm Considering the Change of Phrase Impression," Proc. of IEEE International Conference on Systems, Man, and Cybernetics (SMC'2000, Nashville, USA), 2000.

Koji Shibuya, Takaharu Koyama and Shigeki Sugano, "The Relationship between KANSEI and Bowing Parameters in the Scale Playing on the Violin," Proc. of 1999 IEEE International Conference on Systems Man and Cybernetics (SMC'99, Tokyo, Japan), Ⅳ-305-Ⅳ310, 1999.

Koji Shibuya and Shigeki Sugano, "The Relationship Between Bowing Parameters and Timbre of Single and "A" Major Scale Sounds in Violin Playing," Proc. of the Second International Symposium on HUmanoid RObots (HURO'99, Tokyo, Japan), 86-91, 1999.

Koji Shibuya, Takashi Asada and Shigeki Sugano, "An Algorithm to Convert KANSEI Data into Human Motion," Proc. of 1998 IEEE International Conference on Systems Man and Cybernetics (SMC '98, SanDiego, USA), 1190-1194, 1998.

T. Morita, K.Shibuya and S.Sugano, "Design and Control of Mobile Manipulation System for Human Symbiotic Humanoid: Hadaly-2," Proc. of 1998 IEEE International Conference on Robotics and Automation (ICRA'98, Leuven, Belgium), 1315-1320, 1998.

Koji Shibuya and Shigeki Sugano, "Human Motion Planning in Violin Playing Using KANSEI," Proc. of 1997 IEEE International Conference on Systems Man and Cybernetics (SMC '97, Orland, USA), 2638-2643, 1997.

Koji Shibuya, Yutaka Chikaoka, Takaharu Koyama and Shigeki Sugano, "The Planning of Violin Playing Robot with KANSEI Information - Algorithm to Decide Bowing Parameters from Timbre-," Proc. of the 6th IEEE International Workshop on Robot and Human Communication (RO-MAN '97, Sendai, Japan), 230-235, 1997.

Koji Shibuya, Hiromichi Tanabe, Takashi Asada and Shigeki Sugano, "Construction of KANSEI Model for the Planning of Bowing In Violin Playing," Proc. of the 5th IEEE International Workshop on Robot and Human Communication (RO-MAN '96, Tsukuba, Japan), 422-427, 1996.

K.Shibuya and S.Sugano, "A Strategy for the Finger-Arm Coordinated Motion Analysis of Human Motion in Violin Playing", Eleventh CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (Ro.Man.Sy. '96, Udine, Italy), Springer, 259-266, 1996.

Koji Shibuya and Shigeki Sugano, "The Effect of KANSEI Information on Human Motion -Basic Model of KANSEI and Analysis of Human Motion In Violin Playing -," Proc. of the 4th IEEE International Workshop on Robot and Human Communication (RO-MAN '95, Tokyo, Japan), 89-94, 1995.