Takateru Urakubo Professor, Ph.D. Department of System Informatics, Graduate School of System Informatics, Kobe University 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, JAPAN

Date of Birth: July 19, 1973

Place of Birth: Mie, JAPAN

Education :

• Doctor of Engineering degree in Aeronautics and Astronautics, Kyoto University, 2001
• Master of Engineering degree in Aeronautics and Astronautics, Kyoto University, 1998
• Bachelor of Engineering degree in Aeronautics and Astronautics, Kyoto University, 1996

Academic Experience:

• Professor, Department of System Informatics, Graduate School of System Informatics, Kobe University, Kobe, Japan
  Apr. 2024 - to the present time
• Associate Professor, Department of System Informatics, Graduate School of System Informatics, Kobe University, Kobe, Japan
  Apr. 2023 - Mar. 2024
• Associate Professor, Department of Information Science, Graduate School of System Informatics, Kobe University, Kobe, Japan
  Apr. 2018 - Mar. 2023
• Associate Professor, Department of Systems Science, Graduate School of System Informatics, Kobe University, Kobe, Japan
  Nov. 2016 - Mar. 2018
• Assistant Professor, Department of Systems Science, Graduate School of System Informatics, Kobe University, Kobe, Japan
  Apr. 2010 - Oct. 2016
• Assistant Professor, Department of Computer Science and Systems Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan
  Apr. 2007 - Mar. 2010
• Visiting Research Scientist, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, U.S.A.
  Oct. 2007 - Mar. 2009
• Research Associate, Department of Computer and Systems Engineering, Faculty of Engineering, Kobe University, Kobe, Japan
  Apr. 2001 - Mar. 2007

Research Interests:

• Nonlinear Control (Nonholonomic Systems)
• Autonomous Mobile Robot (VTOL UAV, Spherical Rolling Robot)
• Robot Manipulator (Dynamic Motion near Singular Configurations)

Publications
Journal papers:

1. Y. Takayama, T. Urakubo and H. Tamaki :
   Adaptive Choice of Process Noise Covariance in Kalman Filter Using Measurement Matrices,
   IEEE Transactions on Control Systems Technology (Early Access) (DOI: 10.1109/TCST.2023.3339732)
2. T. Urakubo, K. Wada, K. Sabe, S. Hirai and M. Miwa :
   Aerodynamic Drag of a Tilt-rotor UAV during Forward Flight in Rotary-wing Mode,
   Journal of Robotics and Mechatronics, Vol. 35, No. 2, pp. 417-423, 2023 (DOI: 10.20965/jrm.2023.p0417)
3. C. Kikumoto, T. Urakubo, K. Sabe and Y. Hazama :
   Back-transition Control with Large Deceleration for a Dual Propulsion VTOL UAV Based on Its Maneuverability,
   IEEE Robotics and Automation Letters, Vol. 7, No. 4, pp. 11697-11704, 2022 (DOI: 10.1109/LRA.2022.3205450)
4. C. Kikumoto, Y. Harimoto, T. Yoshida and T. Urakubo :
   Landing Area Detection Using Drone Aerial Images Based on Ground Segmentation and Dense Optical Flow,
   Transactions of the Institute of Systems, Control and Information Engineers, Vol. 35, No. 5, pp. 109-117, 2022 (DOI: 10.5687/iscie.35.109) (in Japanese)
5. Eric Tan Kai Chiang, T. Urakubo and T. Mashimo :
   Lift Generation by a Miniature Piezoelectric Ultrasonic Motor-Driven Rotary-Wing for Pico Air Vehicles,
   IEEE Access, Vol. 10, pp. 13210-13218, 2022 (DOI: 10.1109/ACCESS.2022.3146866)
6. M. Nakamura, T. Muromaki and T. Urakubo :
   A Study on Kicking Motion Strategy for a Legged Robot,
   International Journal of Mechanical Engineering and Robotics Research, Vol. 11, No. 3, pp. 145-150, 2022 (DOI: 10.18178/ijmerr.11.3.145-150)
7. Y. Takayama, T. Urakubo and H. Tamaki :
   Novel Process Noise Model for GNSS Kalman Filter Based on Sensitivity Analysis of Covariance with Poor Satellite Geometry,
   Sensors, Vol. 21, Issue 18, 6056, 2021 (DOI: 10.3390/s21186056)
8. C. Kikumoto, Y. Harimoto, K. Isogaya, T. Yoshida and T. Urakubo :
   Landing Site Detection for UAVs Based on CNNs Classification and Optical Flow from Monocular Camera Images,
   Journal of Robotics and Mechatronics, Vol. 33, No. 2, pp. 292-300, 2021 (DOI: 10.20965/jrm.2021.p0292)
9. Y. Takayama, T. Urakubo, T. Tominaga and H. Tamaki :
   Accuracy Enhancement of GNSS/INS Positioning in Dense Urban Environments with NLOS Signal Rejection based on Geometric Model,
   Transactions of the Institute of Systems, Control and Information Engineers, Vol. 34, No. 2, pp. 37-46, 2021 (DOI: 10.5687/iscie.34.37) (in Japanese)
10. T. Urakubo, E. Kitagawa, X. Wan and T. Mashimo :
    Dragging Motion of a Two-link Mobile Manipulator with Large Pull Force through Singular Configuration: Theoretical Analysis and Experimental Verification,
    Advanced Robotics, Vol. 32, No. 11, pp. 623-634, 2018 (DOI: 10.1080/01691864.2018.1476180)
11. T. Mashimo, T. Urakubo and Y. Shimizu :
    Micro Geared Ultrasonic Motor,
    IEEE/ASME Transactions on Mechatronics, Vol. 23, No. 2, pp. 781-787, 2018 (DOI: 10.1109/TMECH.2018.2792462)
12. T. Urakubo :
    Stability Analysis and Control of Nonholonomic Systems with Potential Fields,
    Journal of Intelligent & Robotic Systems, Vol. 89, Issue 1-2, pp. 121-137, 2018 (DOI: 10.1007/s10846-017-0473-1)
13. X. Wan, T. Urakubo and Y. Tada :
    Dynamic Advantages of Singular Configurations in Moving Heavy Object by a Two-link Mechanism,
    Multibody System Dynamics, Vol. 41, Issue 2, pp. 149-172, 2017 (DOI: 10.1007/s11044-016-9553-4)
14. E. Kitagawa, T. Urakubo and X. Wan :
    Advantageous Dynamic Feature of Singular Configuration in Dragging Heavy Objects with a Two-link Mobile Manipulator,
    Transactions of the Institute of Systems, Control and Information Engineers, Vol. 30, No. 3, pp. 87-96, 2017 (DOI: 10.5687/iscie.30.87) (in Japanese)
15. T. Urakubo, M. Monno, S. Maekawa and H. Tamaki :
    Dynamic Modeling and Controller Design for a Spherical Rolling Robot Equipped with a Gyro,
    IEEE Transactions on Control Systems Technology, Vol. 24, No. 5, pp. 1669-1679, 2016 (DOI: 10.1109/TCST.2015.2508008)
16. T. Urakubo, X. Wan and T. Mashimo :
    A Study on Dynamic Characteristics of Two-link Robot Arm near Singular Configurations,
    Transactions of the Institute of Systems, Control and Information Engineers, Vol. 28, No. 9, pp. 377-383, 2015 (DOI: 10.5687/iscie.28.377) (in Japanese)
17. T. Urakubo :
    Feedback Stabilization of a Nonholonomic System with Potential Fields: Application to a Two-wheeled Mobile Robot among Obstacles,
    Nonlinear Dynamics, Vol. 81, Issue 3, pp. 1475-1487, 2015 (DOI: 10.1007/s11071-015-2082-5)
18. X. Wan, T. Urakubo and Y. Tada :
    Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures,
    Journal of Mechanical Science and Technology, Vol. 29, Issue 4, pp. 1391-1397, 2015 (DOI: 10.1007/s12206-015-0309-5)
19. X. Wan, T. Urakubo and Y. Tada :
    Landing Motion of a Legged Robot with Minimization of Impact Force and Joint Torque,
    Journal of Robotics and Mechatronics, Vol. 27, No. 1, pp. 32-40, 2015 (DOI: 10.20965/jrm.2015.p0032)
20. T. Mashimo, T. Urakubo and T. Kanade :
    Singularity-Based Four-Bar Linkage Mechanism for Impulsive Torque With High Energy Efficiency,
    ASME Journal of Mechanisms and Robotics, Vol. 7, Isuue 3, 031002, 2015 (DOI: 10.1115/1.4028930)
21. T. Urakubo, M. Monno, S. Maekawa and H. Tamaki :
    Control for Straight Motion of Spherical Rolling Robot Equipped with a Gyro,
    Journal of the Robotics Society of Japan, Vol. 32, No. 6, pp. 543-549, 2014 (DOI: 10.7210/jrsj.32.543) (in Japanese)
22. H. Saiki, T. Fukao, T. Urakubo and T. Kohno :
    A Path Following Control of Outdoor Blimp Robots for Disaster Surveillance,
    Transactions of the Japan Society of Mechanical Engineers. C, Vol. 79, No. 798, pp. 236-251, 2013 (DOI: 10.1299/kikaic.79.236) (in Japanese)
23. M. Hutagalung, T. Hayakawa and T. Urakubo :
    Configuration Consensus of Two Underactuated Planar Rigid Bodies,
    SICE Journal of Control, Measurement, and System Integration, Vol. 4, No. 6, pp. 430-438, 2011 (DOI: 10.9746/jcmsi.4.430)
24. H. Saiki, T. Fukao, T. Urakubo and T. Kohno :
    Hovering Control of Outdoor Blimp Robots Based on Path Following,
    Journal of Robotics and Mechatronics, Vol. 23, No. 2, pp. 207-214, 2011 (DOI: 10.20965/jrm.2011.p0207)
25. T. Urakubo, S. Maekawa, T. Ueda and H. Tamaki :
    Optimization of Contact Point Trajectory for a Spherical Rolling Robot,
    Transactions of the Society of Instrument and Control Engineers, Vol. 46, No. 10, pp. 623-631, 2010 (DOI: 10.9746/sicetr.46.623) (in Japanese)
26. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Attitude Control of a Spacecraft with Two Reaction Wheels,
    Journal of Vibration and Control, Vol. 10, Issue 9, pp. 1291-1311, 2004 (DOI: 10.1177/1077546304042042)
27. K. Tsujita, K. Tsuchiya, T. Urakubo and Z. Sugawara :
    Trajectory and Force Control of a Manipulator with Elastic Links,
    Journal of Vibration and Control, Vol. 10, Issue 9, pp. 1271-1289, 2004 (DOI: 10.1177/1077546304042041)
28. K. Tsuchiya, T. Urakubo and K. Tsujita :
    Motion Control of a Nonholonomic System Based on the Lyapunov Control Method,
    Journal of Guidance, Control, and Dynamics, Vol. 25, No. 2, pp. 285-290, 2002 (DOI: 10.2514/2.4880)
29. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Motion Control of a Two-wheeled Mobile Robot,
    Advanced Robotics, Vol. 15, No. 7, pp. 711-728, 2001 (DOI: 10.1163/15685530152744581)
30. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Lyapunov Control of a Class of Non-holonoimc Systems,
    Transactions of the Society of Instrument and Control Engineers, Vol. 37, No. 11, pp. 1020-1025, 2001 (DOI: 10.9746/sicetr1965.37.1020) (in Japanese)

Survey/Tutorial Papers:

1. T. Urakubo and A.Budiyono :
   Advancements in Tilted-Rotor Unmanned Aerial Vehicles: A Comprehensive Review,
   Journal of Instrumentation, Automation and Systems, Vol.10, No. 3, pp. 93-104, 2023
2. T. Urakubo :
   Research and Development of a VTOL Drone - Toward Realization of the Next-generation Drones,
   Systems, Control and Information, Vol. 60, No. 10, pp. 437-442, 2016 (DOI 10.11509/isciesci.60.10_437) (in Japanese)
3. T. Urakubo :
   Controllability and State Feedback,
   Systems, Control and Information, Vol. 56, No. 4, pp. 180-183, 2012 (in Japanese)
4. T. Urakubo and K. Tsuchiya :
   Control of Nonholonomic Systems with First Order Lie Brackets,
   Systems, Control and Information, Vol. 49, No. 1, pp. 20-25, 2005 (in Japanese)

Refereed Conference Papers:

1. T. Urakubo, R. Nakamura, C. Kikumoto, K. Sabe and Y. Hazama :
   Minimum Turning Radius Analysis for Quad-plane UAVs in High-speed Flights,
   Proc. of the 49th Annual Conference of the IEEE Industrial Electronics Society, IECON23-001115, 2023 (DOI: 10.1109/IECON51785.2023.10312655)
2. T. Urakubo, R. Nakamura, C. Kikumoto, K. Sabe and S. Hirai :
   Steep Turn of a Tilt-rotor UAV with Redundancy in Control Inputs,
   Proc. of the 2023 IEEE International Conference on Systems, Man, and Cybernetics, pp. 3406-3411, 2023
3. Y. Takayama, T. Urakubo and H. Tamaki :
   GNSS/INS Positioning in Dense Urban Environment with Adaptive Choice of Process Noise Covariance Based on Satellite Geometry,
   Proc. of 36th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2023), pp. 1974-1983, 2023 (https://doi.org/10.33012/2023.19325)
4. M. Nakamura, T. Urakubo and T. Muromaki :
   Dynamic Motion of Two-link Arms with Different Link Lengths Using Singularities,
   Proc. of the 11th International Symposium on Adaptive Motion of Animals and Machines, pp. 105-106, 2023 (Extended Abstract)
5. Y. Takayama, T. Urakubo and H. Tamaki :
   Avoiding GNSS Kalman Filter Degradation in Urban Canyons with a Novel Process Noise Model,
   Proc. of 35th International Technical Meeting of the Satellite Division of the Institute of Navigation (ION GNSS+ 2022), pp. 1831-1839, 2022
6. T. Urakubo, K. Wada, K. Sabe and S. Hirai :
   Aerodynamic Analysis of a Tilt-rotor UAV in Level Flight with Different Tilt Angles,
   Proc. the 18th International Conference of Intelligent Unmanned Systems, pp. 295-300, 2022
7. C. Kikumoto, T. Urakubo, H. Yoneda, K. Sabe and Y. Hazama :
   Optimization of Transition Flight Trajectory for a Dual Propulsion VTOL UAV,
   Proc. the 18th International Conference of Intelligent Unmanned Systems, pp. 307-312, 2022
8. T. Urakubo, X. Wan and T. Mashimo:
   Efficient Energy Supply from Joint Torques near Singular Configurations for a Two-link Robot Arm with Joint Friction,
   Proc. the 2020 IEEE/SICE International Symposium on System Integration, pp. 1193-1198, 2020
9. Y. Takayama, T. Urakubo and H. Tamaki:
   A Study on Efficient LiDAR-based Localization with Initial Pose Estimation,
   Proc. the 2020 IEEE/SICE International Symposium on System Integration, pp. 985-990, 2020
10. K. Fujii, T. Urakubo and E. Itoh:
    A Study on State Estimation with Multiple GNSS Antennas and a Low-cost IMU Using Double and Triple Differences of Carrier Phase,
    Proc. the 16th IAIN World Congress 2018, P2-2, 2018
11. K. Unagida, T. Muromaki, A. Suda, X. Wan and T. Urakubo:
    Development of a Legged Robot for Studying an Efficient Jumping Motion near Singular Configurations,
    Proc. 2018 International Symposium on Flexible Automation, S108, 2018
12. R. Kawanishi, T. Urakubo and X. Wan:
    Dynamic Advantages of Singular Configurations in Moving Heavy Objects with a 3-DOF Robot Manipulator,
    Proc. IEEE 15th International Workshop on Advanced Motion Control, pp. 47-53, 2018
13. E. Kitagawa, T. Urakubo and X. Wan:
    Advantage of Singular Configuration in Pulling Heavy Object with a Two-link Mobile Manipulator,
    Proc. 2016 International Symposium on Flexible Automation, pp. 444-449, 2016
14. X. Wan, T. Urakubo and T. Mashimo:
    Generation of Large Pulling Force by a Mobile Manipulator Through Singular Configuration,
    Proc. the 2015 IEEE Conference on Robotics and Biomimetics, pp. 408-414, 2015
15. H. Saiki, T. Kobayashi, T. Fukao, T. Urakubo, K. Araiba and H. Amano:
    Control for Suppressing Roll Motion of Outdoor Blimp Robots for Disaster Surveillance,
    Proc. AIAA Infotech @ Aerospace, AIAA 2015-0714, 2015
16. N. Inoue, G. Hayashida, T. Urakubo and T. Fukao:
    Development of a Tilt-rotor UAV for Information Gathering,
    Proc. 2nd International Conference on Maintenance Science and Technology, pp. 239-240, 2014
17. T. Urakubo, H. Yoshioka, T. Mashimo and X. Wan:
    Experimental Study on Efficient Use of Singular Configuration in Pulling Heavy Objects with Two-link Robot Arm,
    Proc. 2014 IEEE International Conference on Robotics and Automation, pp. 4582-4587, 2014
18. X. Wan, T. Urakubo and Y. Tada:
    Optimization of Jumping Motion of a Legged Robot for Different Take-off Postures,
    Proc. the Eighth China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems, No. 0205, 2014
19. X. Wan, T. Urakubo and Y. Tada:
    Landing Motion of a Legged Robot with Impact Force Reduction and Joint Torque Minimization,
    Proc. The Second International Conference on Robot, Vision and Signal Processing, pp. 259-264, 2013
20. T. Urakubo, M. Osawa, S. Maekawa, H. Tamaki and Y. Tada:
    Development of a Spherical Rolling Robot Equipped with a Gyro,
    Proc. 2012 IEEE International Conference on Mechatronics and Automation, pp. 1602-1607, 2012
21. T. Urakubo and T. Kanade:
    Capturability Analysis of a Three-dimensional Guidance Law with Angular Acceleration Input,
    Proc. the 2012 American Control Conference, pp. 2551-2556, 2012
22. X. Wan, T. Urakubo and Y. Tada:
    A Study on Jumping Motion of a Legged Robot with Efficient Energy Supply near Singular Configuration,
    Proc. of The 7th China-Japan-Korea Joint Symposium on Optimization of Structural and Mechanical Systems, C097, 2012
23. H. Saiki, T. Fukao, T. Urakubo and T. Kohno:
    A Path Following Control Method under Wind Disturbances for Outdoor Blimp Robots,
    Proc. SI International 2011, pp. 978-984, 2011
24. M. Hutagalung, T. Hayakawa and T. Urakubo:
    Consensus Control for Underactuated Vehicles,
    Preprints of the 18th IFAC World Congress, pp. 6721-6726, 2011
25. T. Urakubo, T. Mashimo and T. Kanade:
    Efficient Pulling Motion of a Two-Link Robot Arm near Singular Configuration,
    Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1372-1377, 2010
26. T. Mashimo, T. Urakubo and T. Kanade:
    Singularity-Based Mechanism with High Responsiveness,
    Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4207-4212, 2010
27. T. Mashimo, R. Diankov, T. Urakubo and T. Kanade:
    Analysis of Task Feasibility for a Home Robot using Prismatic Joints,
    Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2370-2376, 2010
28. H. Saiki, T. Fukao, T. Urakubo and T. Kohno:
    Hovering Control of Outdoor Blimp Robots Based on Path Following,
    Proc. 2010 IEEE Multi-conference on Systems and Control, pp. 2124-2129, 2010
29. T. Urakubo, T. Mashimo and T. Kanade:
    Optimal Placement of a Two-Link Manipulator for Door Opening,
    Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1446-1451, 2009
30. T. Urakubo and T. Kanade:
    Capturability of a Simple Guidance Law with Angular Acceleration Input,
    Proc. the European Control Conference 2009, pp. 2390-2395, 2009
31. M. Hutagalung, T. Hayakawa and T. Urakubo:
    Configuration Consensus of Two Underactuated Planar Rigid Bodies,
    Proc. the 47th IEEE Conference on Decision and Control, pp. 5016-5021, 2008
32. T. Urakubo and Y. Tada:
    A Study on Attitude Control of a Space Robot Composed of Two Axisymmetric Rigid Bodies,
    Proc. 3rd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, pp. 177-182, 2006
33. T. Urakubo, S. Maekawa, H. Tamaki, Y. Tada, T. Otani and H. Kobayashi:
    Dynamics and Control of a Spherical Rolling Robot Equipped with a Gyro,
    Proc. 2006 International Symposium on Flexible Automation, pp. 1013-1016, 2006 [PDF]
34. Y. Tada, K. Kitano and T. Urakubo:
    Design and Control of Indoor Nearfloor Mover with Autonomy for Welfare,
    Proc. 2006 International Symposium on Flexible Automation, pp. 1017-1020, 2006
35. T. Otani, T. Urakubo, S. Maekawa, H. Tamaki and Y. Tada:
    Position and Attitude Control of a Spherical Rolling Robot Equipped with a Gyro,
    Proc. the 9th IEEE International Workshop on Advanced Motion Control, pp. 416-421, 2006
36. T. Urakubo :
    Discontinuous Feedback Stabilization of a Class of Nonholonomic Systems Based on Lyapunov Control,
    Proc. the Fifth International Workshop on Robot Motion and Control, pp. 91-96, 2005
37. T. Urakubo, K. Okuma and Y. Tada :
    Feedback Control of a Two Wheeled Mobile Robot with Obstacle Avoidance Using Potential Functions,
    Proc. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2428-2433, 2004
38. K. Okuma, T. Urakubo and Y. Tada :
    Lyapunov Control of a Two Wheeled Mobile Robot in the Presence of Obstacles,
    Proc. 2004 Japan-USA Symposium on Flexible Automation, JS026, 2004
39. T. Urakubo, K. Tsuchiya and K. Tsujita :
    Attitude Control of a Spacecraft with Two Reaction Wheels,
    Proc. 5th Cranfield Conference on Dynamics and Control of Systems and Structures in Space 2002, pp. 89-96, 2002
40. T. Urakubo, K. Tsuchiya and Y. Tada :
    Reorientation Maneuver of a Spacecraft Composed of Two Rigid Bodies,
    Proc. The 6th International Conference on Motion and Vibration Control, pp. 355-360, 2002
41. T. Urakubo, K. Okuma and Y. Tada :
    Feedback Control of a Two Wheeled Mobile Robot among Obstacles,
    Proc. 2002 Japan-USA Symposium on Flexible Automation, pp. 189-192, 2002
42. K. Tsuchiya, T. Urakubo and K. Tsujita :
    A Motion Control of a Two-Wheeled Mobile Robot,
    Proc. IEEE International Conference on Systems, Man, and Cybernetics, pp. v-690-v-696, 1999

Not Refereed Conference Papers (written in English):

• S. Minegishi, K. Tsuchiya and T. Urakubo :
  Motion Planning of a Space Robot with a Momentum Wheel,
  Proc. the 16th Workshop on JAXA Astrodynamics and Flight Mechanics, pp. 279-284, 2006
• T. Urakubo, K. Tsuchiya and Y. Tada :
  Attitude Control of a Spacecraft Composed of Two Rigid Bodies Using Internal Motion,
  Proc. ISAS 13th Workshop on Astrodynamics and Flight Mechanics, pp. 186-191, 2003
• T. Urakubo, K. Tsuchiya and Y. Tada :
  Extended Lyapunov Control of First Order Systems and Its Applications,
  Proc. SICE Annual Conference 2002, pp. 1766-1771, 2002
• K. Tsuchiya, T. Urakubo and K. Tsujita :
  An Extension of Lyapunov Control for a Class of Non-holonomic System,
  Proc. ISAS 10th Workshop on Astrodynamics and Flight Mechanics, pp. 363-368, 2000
• K. Tsuchiya, T. Urakubo, K. Nagaoka and K. Tsujita :
  Attitude Control of a Spacecraft with Two Reaction Wheels,
  Proc. ISAS 9th Workshop on Astrodynamics and Flight Mechanics, pp. 318-325, 1999
• K. Tsuchiya, T. Urakubo and K. Tsujita :
  A Motion Control of a Space Manipulator by a Generalized Lyapunov Control,
  Proc. ISAS 8th Workshop on Astrodynamics and Flight Mechanics, pp. 36-41, 1998
• K. Tsuchiya, T. Urakubo and K. Tsujita :
  A Feedback Control for a Class of Non-holonomic System,
  Proc. ISAS 7th Workshop on Astrodynamics and Flight Mechanics, pp. 56-61, 1997

Prizes:

1. IFAC/ARF World Drone Competition Award - First Place:
   Kobe Univ. and Aerosense Inc., 2023
2. ICIUS 2022 Best Paper Award:
   T. Urakubo, K. Wada, K. Sabe and S. Hirai,
   Aerodynamic Analysis of a Tilt-rotor UAV in Level Flight with Different Tilt Angles,
   Proc. the 18th International Conference of Intelligent Unmanned Systems, pp. 295-300, 2022
3. JSME Medal for Outstanding Paper 2013 :
   H. Saiki, T. Fukao, T. Urakubo and T. Kohno,
   A Path Following Control of Outdoor Blimp Robots for Disaster Surveillance,
   Transactions of the Japan Society of Mechanical Engineers. C, Vol. 79, No. 798, pp. 236-251, 2013 (in Japanese)
4. Prize for Encouragement of ISCIE 2003 :
   T. Urakubo, K. Okuma, Y. Tada,
   Feedback Control of a Two-wheeled Mobile Robot in the Presence of Obstacles,
   Proc. the 46th Annual Conference of the Institute of Systems, Control and Information Engineers, pp. 99-100, 2002 (in Japanese)