Publications by Tomoya Takeuchi There are ... items referenced. Alternative author names: Tomoya Takeuchi, Tomoya TAKEUCHI. 2016 -- Kenji FUJIMOTO, Tomoya TAKEUCHI, Yuki MATSUMOTOOn Port-Hamiltonian Modeling and Control of Systems with Quaternions 2015 -- Kenji Fujimoto, Tomoya Takeuchi, Yuki MatsumotoOn port-Hamiltonian modeling and control of quaternion systems