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CAO Sheng
Graduate School of System Informatics / Department of System Informatics
Assistant Professor

Researcher basic information

■ Research Areas
  • Informatics / Intelligent robotics
■ Committee History
  • - Present, 神戸大学システム情報学 情報知能工学科, 演習委員会委員
  • 日本機械学会, 第30回インテリジェント・システム・シンポジウム 実行委員会委員
  • 神戸大学システム情報学 情報知能工学科, 実験委員会委員
  • 神戸大学システム情報学 情報知能工学科, 留学生委員
  • システム制御情報学会, 第６４回システム制御情報学会研究発表講演会 実行委員
  • 第６３回システム制御情報学会, 第６３回システム制御情報学会研究発表講演会 実行委員

Research activity information

■ Award
  • 2021 システム制御情報学会, 初のSCI20オンライン開催実行に対する感謝状

■ Paper
  • Kaori Abe, Changqin Quan, Sheng Cao, Luo Zhiwei
    May 2025, Applied Sciences
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Kaori Abe, Changqin Quan, Sheng Cao, Zhiwei Luo
    As the linguistic capabilities of AI-based dialogue systems improve, their human-likeness is increasing, and their behavior no longer receives a universal evaluation. To better adapt to users, the consideration of individual preferences is required. In this study, the relationships between the properties of a human-like dialogue system and dialogue evaluations were investigated using hierarchical cluster analysis for individual subjects. The dialogue system driven by generative AI communicated with subjects in natural language via voice-based communication and featured a facial expression function. Subjective evaluations of the system and dialogues were conducted through a questionnaire. Based on the analysis results, the system properties were classified into two types: generally and individually relational to a positive evaluation of the dialogue. The former included inspiration, a sense of security, and collaboration, while the latter included a sense of distance, personality, and seriousness. Equipping the former properties is expected to improve dialogues for most users. The latter properties should be adjusted to individuals since they are evaluated based on individual preferences. A design approach in accordance with individuality could be useful for making human-like dialogue systems more comfortable for users.
    MDPI AG, Mar. 2025, Applied Sciences, 15(7) (7), 3466 - 3466
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Dynamic Simulation Based Analysis of Assisted Standing-Up Motion
    Sheng Cao, Zhiwei Luo, Changqin Quan
    Sep. 2024, The 18th International Conference on Innovative Computing, Information and Control (ICICIC2024)
    [Refereed]
    International conference proceedings

  • Deep Variational Approach for Generating Optimal Koopman Operator of Nonlinear System
    Sheng Cao, Zhiwei Luo, Changqin Quan
    Jul. 2024, 2024 IEEE International Conference on Advanced Robotics and Mechatronics

  • Sheng Cao, Zhiwei Luo, Changqin Quan
    Mar. 2024, IEEE/CAA Journal of Automatica Sinica, 11(3) (3), 608 - 621
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Sheng Cao, Zhiwei Luo, Changqin Quan
    MDPI AG, Jan. 2024, Biomimetics, 9(2) (2), 84 - 84
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Sheng Cao, Zhiwei Luo, Changqin Quan
    2023, CoDIT, 1924 - 1929
    [Refereed]
    International conference proceedings
    Link to Kobe Univ. Repository (Kernel)

  • Sheng Cao, Zhiwei Luo, Changqin Quan
    MDPI AG, Dec. 2022, Applied Sciences, 13(1) (1), 10 - 10, English
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Finite-time Consensus of Linear Multi-agent Systems via Time-based Event-triggered Control
    CHENG Ziyang, CAO Sheng, QUAN Changqin, MORI Kohei, LUO Zhiwei
    Dec. 2022, システム制御情報学会論文誌, 35(11) (11)
    [Refereed]

  • On Distributed Event-triggered Controller with Aperiodic Event Detection for Finite-time Consensus of Multi-agent Systems
    CHENG Ziyang, QUAN Changqin, MORI Kohei, CAO Sheng, LUO Zhiwei
    Dec. 2022, システム制御情報学会論文誌, 35(8) (8)
    [Refereed]

  • Mask-based Contour Inpainting for Pose-Guided Human Image Generation
    YU Haocong, QUAN Changqin, CAO Sheng, LUO Zhiwei, MORI Kohei
    May 2022, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 66, 1138 - 1140, English

  • Estimation of Ground Information from Seismic Time Series Signals using Deep Learning
    CHEN Ran, QUAN Changqin, CAO Sheng, 森耕平, LUO Zhiwei
    京都 : システム制御情報学会, May 2022, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 66, 767 - 769, Japanese

  • Ziyang Cheng, Changqin Quan, Kohei Mori, Sheng Cao, Zhiwei Luo
    The Institute of Systems, Control and Information Engineers, Apr. 2022, Transactions of the Institute of Systems, Control and Information Engineers, 35(4) (4), 68 - 74
    [Refereed]
    Scientific journal

  • Deep learning method of body pose transfer using BBM Loss function
    YU Haocong, QUAN Changqin, CAO Sheng, LUO Zhiwei
    2022, インテリジェント・システム・シンポジウム(CD-ROM), 30th

  • Adaptive Impedance Control of A Robot Manipulator Considering Passivity
    孫文可, CAO Sheng, 森耕平, QUAN Changqin, LUO Zhiwei
    2022, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2021

  • Tomohiro Fujita, Zhiwei Luo, Changqin Quan, Kohei Mori, Sheng Cao
    MDPI AG, May 2021, Applied Sciences, 11(10) (10), 4361 - 4361
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • Reliability Analysis Considering Human Error
    前山一登, CAO S., 森耕平, QUAN C.Q., LUO Z.W.
    システム制御情報学会, May 2021, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 65, 471 - 473, Japanese

  • 路上駐車を考慮した交差点の交通流シミュレーション
    山本 晃央, 森 耕平, 全 昌勤, 曹 晟, 羅 志偉
    システム制御情報学会, May 2021, システム制御情報学会研究発表講演会講演論文集, 65, 55 - 57, Japanese

  • Data Analysis basis on %DET of Recurrence Plot
    井川祥太, LUO Z.W., QUAN C.Q., CAO S., 森耕平
    システム制御情報学会, May 2021, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 65, 204 - 209, Japanese

  • Research on Consensus State of Multi-agent System with Event-triggered Controller
    CHENG Z.Y., QUAN C.Q., MORI K., CAO S., LUO Z.W.
    2021, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 65th

  • Application of OpenPose to Analyze Parkinson’s Disease
    本荘友毅, LUO Z.W., 森耕平, QUAN C.Q., CAO S.
    2021, センシングフォーラム資料(CD-ROM), 38th

  • On Characterized Japanese Dialogue Generation
    前田研吾, QUAN Changqin, LUO Zhiwei, 森耕平, CAO Sheng
    2021, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2020

  • Cheng Zi-Yang, Quan Changqin, Mori Kohei, Cao Sheng, Luo Zhiwei
    2021, IEEE Conference Proceedings, 2021(ICECCME) (ICECCME)
    International conference proceedings

  • Sensing and dynamics analysis of sit-to-stand movement
    塩見竜希, CAO Sheng, 森耕平, QUAN Changqin, LUO Zhiwei
    2021, センシングフォーラム資料(CD-ROM), 38th

  • Development of Intelligent Database of Traditional Chinese Medicine
    XU Yakun, 田中成典, 森耕平, CAO Sheng, LUO Zhiwei
    システム制御情報学会, May 2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64, 517 - 519, Japanese

  • Robotics for Upper Arm’s Rehabilitation
    能勢拓磨, CAO Sheng, QUAN Changqin, 森耕平, LUO Zhiwei
    2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019

  • Stiffness Estimation for Spinal Rehabilitation
    東孝幸, CAO Sheng, QUAN Changqin, 森耕平, LUO Zhiwei
    2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019

  • Research on Stock Fluctuation Analysis using Image Processing
    小島一也, LUO Zhiwei, QUAN Changqin, 森耕平, CAO Sheng
    2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019

  • Study of SLAM with Vector Field by Mobile Robot
    塩崎亮, LUO Zhiwei, 森耕平, CAO Sheng
    2020, 計測自動制御学会関西支部・システム制御情報学会シンポジウム(CD-ROM), 2019

  • Redundant Impedance Control of Multi Robots
    和田翔太, LUO Zhiwei, CAO Sheng, 森耕平
    2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th

  • Research on SLAM in dynamic landmark environment
    松永理寛, LUO Zhiwei, CAO Sheng, 森耕平
    2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th

  • Hyperbolic Tangent Function based Tension Distribution Design for Cable-Driven Robot
    CAO Sheng, LUO Zhiwei, MORI Kohei, QUAN Changqin
    2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, 964 - 969, English

  • Development of Virtual Reality System for Assessment of Unilateral Spatial Neglect
    CAO Sheng, LUO Zhiwei, SHIRAKAWA Makoto, TAMURA Masaki, TANEMURA Rumi
    2020, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 64th, 756 - 759, English

  • Adaptive Control Design of Multi-robot System with Connection Uncertainty
    CHENG Zi-yang, CAO Sheng, LUO Zhi-wei, MORI Kohei, QUAN Chang-qin
    2019, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 63rd

  • Learning Optimal Human-Robot Interaction Control Considering Robot’s Passivity
    CAO Sheng, LUO Zhiwei, QUAN Changqin, MORI Kohei
    2019, システム制御情報学会研究発表講演会講演論文集(CD-ROM), 63rd

  • Passive Velocity Field Control of a Redundant Cable-Driven Robot with Tension Limitations
    Cao Sheng, LUO Zhi-Wei, Quan Changqin
    This paper proposes a novel dynamic control approach for a cable-driven robot with high redundant actuation and cable tension limitations to perform tracking task while interacting with environment. In order for a cable-driven exoskeleton robot to execute the task smoothly and safely, it is necessary to consider the tracking motion performance as well as passivity when interacting with the environment under the conditions of the actuation cables’ redundancy and the pulling limitation. With the additional consideration of the maximum limitation of the cable tension, cable-driven robot actually can only apply a certain range of feasible wrench on the external environment, which makes the task executed by robot be restricted. In order to make designed wrench be feasible and keep the desired trajectory tracking ability, we present a new control method by extending PVFC (passive velocity field control) method considering tracking stability and passivity. The approach augmented a higher dimensional virtual flywheel dynamics in a specific orthogonal complement space of the cable’s actuation space. After the final adjustment of the designed wrench with respect to the cable’s constraint, this method is capable of driving the cable robot to complete the trajectory tracking task and realize the passivity.
    2017, Journal of Mechanics Engineering and Automation, 2017(7) (7), 132 - 144, English
    [Refereed]
    Scientific journal
    Link to Kobe Univ. Repository (Kernel)

  • On Observer-based Robust Passive Impedance Control of a Robot Manipulator
    Cao Sheng, LUO Zhi-Wei, Quan Changqin
    This paper studies the passive impedance control of a robot manipulator with model uncertainty to perform manipulation tasks while interacting with dynamic environment. Impedance control is a powerful approach for the robot to perform mechanical tasks while interacting with dynamic environment. However, in our previous research, it was clarified that, the time varying impedance center as well as the robot’s model uncertainty influences the robot’s passivity, which may lead to serious safety problem for both the robot as well as its environment. In order for the robot to keep its passivity as well as to realize desired objective impedance, in this paper, a novel observer based control design is proposed. Computer simulations of a 2-link manipulator interacting with a dynamic wall show the effectiveness of our control approach.
    2017, Journal of Mechanics Engineering and Automation, 2017(7) (7), 71 - 78, English
    [Refereed]
    Scientific journal

  • On Energy-based Robust Passive Impedance Control of a Robot Manipulator. Journal of Mechanics Engineering and Automation
    Cao Sheng, LUO Zhi-Wei, Quan Changqin
    2017, Journal of Mechanics Engineering and Automation, 2017(7) (7), 65 - 70, English
    [Refereed]
    Scientific journal

  • Estimaion of an Object's Physical Parameter by Force Sensors of a Dual-arm Robot
    Cao Sheng, LUO Zhi-Wei, Quan Changqin
    We are developing a nursing-care robot for physical care tasks. The concept of this robot is to promote the cared person's by the robot to activate their own motion ability as long as possible. This may lead to the improvement of the cared person’s movement volition and movement abilities. In order to realize safe and human friendly robot care tasks, full body manipulation is an important technology, for which it is necessary to estimate the subject’s center of gravity from the contact positions and forces with the robot’s two arms. In this paper, we estimate the center of gravity of object based on the contact point and the contact force estimated by force sensor on both robot arms. The position of gravity center is important to realize care tasks stably. We performed experiments and simulations for the single point contact and dual points contact cases using a cylindrical object. As a result, it is found that although some errors were recognized in the experiments compared with the simulations, the relations between the contact positions and such errors were observed. Such experimental error mainly comes from the difference of shape between the real robot and the model of the robot in simulation.
    2017, Journal of Mechanics Engineering and Automation, 2017(7) (7), 120 - 131, English
    [Refereed]
    Scientific journal

  • Sheng Cao, Nishida Kazuki, Changqin Quan, Zhiwei Luo
    IOS Press, 2016, International Journal of Applied Electromagnetics and Mechanics, 52(3-4) (3-4), 943 - 950, English
    [Refereed]
    Scientific journal

  • Sheng Cao, Zhiwei Luo, Changqin Quan
    Lead, 2016, 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 2016(ROBIO) (ROBIO), 131 - 136, English
    [Refereed]
    International conference proceedings

  • Sheng Cao, Zhiwei Luo, Changqin Quan
    2015, 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO), 715 - 720, English
    [Refereed]
    International conference proceedings

  • 2ステップテストに関する生体力学計測と解析—Biomechanical Measurement and Analysis of Two-step Test
    溝口 貴大, 曹 晟, 長野 明紀
    システム制御情報学会, May 2014, システム制御情報学会研究発表講演会講演論文集, 58, 4p, Japanese

  • Takahiro Mizoguchi, Sheng Cao, Zhiwei Luo, Keiji Fujino, Nobuyuki Kurusu
    Apr. 2014, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, 1499 - 1504
    International conference proceedings

  • On Energy-based Robust Passive Impedance Control of a Robot Manipulator
    Sheng Cao, Zhi-Wei Luo
    2014, INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014), 7(2) (2), 611 - 616, English
    [Refereed]
    International conference proceedings

  • Sheng Cao, Zhiwei Luo
    2013, 2013 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 635 - 640, English
    [Refereed]
    International conference proceedings

■ Books And Other Publications
  • Optimal Estimation and Passivity based Control for Human Friendly Robots
    Single work

■ Lectures, oral presentations, etc.
  • Learning Optimal Human-Robot Interaction Control Considering Robot’s Passivity
    第63回システム制御情報学会研究発表講演会 (SCI’19), May 2020

  • Development of Virtual Reality System for Assessment of Unilateral Spatial Neglect
    Sheng Cao, Zhiwei Luo, Makoto Shirakawa, Masaki Tamura, Rumi Tanemura
    第64回システム制御情報学会研究発表講演会 (SCI'20), May 2020

  • ロボット技術を用いた上肢運動リハビリテーション
    能勢 拓磨, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉
    2019年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2020, Japanese

  • 画像認識を用いた株価予測の分析
    小島 一也, 曹 晟, 全 昌勤, 羅 志偉
    2019年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2020

  • ベクトル場を用いたSLAMの研究
    塩崎 亮, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉
    2019年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2020

  • 脊椎リハビリテーションのためのstiffness推定
    東 孝幸, 曹 晟, 全 昌勤, 森 耕平, 羅 志偉
    2019年度計測自動制御学会関西支部・システム制御情報学会シンポジウム, Jan. 2020

  • Adaptive Control Design of Multi-robot System with Connection Uncertainty
    程 子洋, 曹 晟, 羅 志偉, 森 耕平, 全 昌勤
    第63回システム制御情報学会研究発表講演会 (SCI’19), May 2019

  • Mask-based contour inpainting for pose-guided human image generation
    余 昊聡, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉
    第66回システム制御情報学会研究発表講演会(SCI'22)

  • 深層学習を用いた地震波の時系列信号による地盤地質推定
    陳 冉, 全 昌勤, 曹 晟, 森 耕平, 羅 志偉
    第66回システム制御情報学会研究発表講演会(SCI'22)

  • 受動性を考慮したロボットの適応インピーダンス制御
    孫 文可,曹 晟,森 耕平,全 昌勤,羅 志偉
    2021年度 計測自動制御学会関西支部・システム制御情報学会シンポジウム

  • 動的ランドマーク環境における SLAM に関する研究
    松永 理寛, 曹 晟, 羅 志偉, 森 耕平
    第64回システム制御情報学会研究発表講演会 (SCI'20)

  • 下肢リハビリテーションのための⾝体⼒学解析
    江藤 恒夫, 羅 志偉, 全 昌勤, 森 耕平, 曹 晟, 藤野 圭司
    第64回システム制御情報学会研究発表講演会 (SCI'20)

  • Hyperbolic Tangent Function based Tension Distribution Design for Cable-Driven Robot
    曹 晟, 羅 志偉, 全 昌勤, 森 耕平
    第64回システム制御情報学会研究発表講演会 (SCI'20)

  • 協調作業を⾏う群ロボットの冗⻑インンピーダンス制御
    和⽥ 翔太,羅 志偉,森 耕平,曹 晟
    第64回システム制御情報学会研究発表講演会 (SCI'20)

■ Affiliated Academic Society
  • IEEE

  • 計測自動制御学会

  • システム制御情報学会

■ Social Contribution Activities
  • JSTさくらサイエンスプログラム
    2014 - 2017

  • オートメーションと計測の先端技術総合展IIFES2024
    Advisor

  • 第４回日・豪・中健康科学技術フォーラム

  • The 9th Kobe University Brussels European Centre Symposium：Smart Cities, Secure Societies: Breakthroughs in EU and Japan Research Cooperation

  • 神戸医療産業都市構想一般公開 「神戸大学一日出張研究室」 毎年
    神戸市

■ Academic Contribution Activities
  • 国際誌 International Journal of Advanced Robotic Systems
    国際誌 International Journal of Advanced Robotic Systems
    2019 - Present

  • 国際誌 Frontiers Neurorobotics
    国際誌 Frontiers Neurorobotics
    2019 - Present

  • 国際誌 IEEE Transactions on Cognitive and Developmental Systems
    国際誌 IEEE Transactions on Cognitive and Developmental Systems
    2019
    Peer review etc

  • 国際会議ICARM2024
    国際会議ICARM2024
    Academic society etc

  • 国際誌 Automatica
    国際誌 Automatica

  • 第63回システム制御情報学会研究発表講演会 (SCI'19) 実行委員会 委員
    第63回システム制御情報学会研究発表講演会 (SCI'19) 実行委員会 委員
    システム制御情報学会
    Academic society etc

  • 第64回システム制御情報学会研究発表講演会 (SCI'20) 実行委員会 委員
    第64回システム制御情報学会研究発表講演会 (SCI'20) 実行委員会 委員
    システム制御情報学会
    Academic society etc

  • 第30回インテリジェント・システム・シンポジウム
    第30回インテリジェント・システム・シンポジウム
    計測自動制御学会 システム・情報部門 (企画：コンピューテーショナル・インテリジェンス部会)

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