Toru Masuda

Osaka University of Human Sciences, The University of Osaka

Papers

Total Citations

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About

Toru Masuda is a pioneering researcher in the field of multi-legged robotics, with a primary focus on locomotion accuracy and dead reckoning systems. His major contribution lies in the development of error analysis methodologies for dead reckoning in multi-legged robots, a critical challenge for autonomous navigation in unstructured environments. Masuda’s work, particularly his 2002 paper "Error analysis of dead reckoning of multi-legged robots" (8 citations), establishes foundational equations for estimating cumulative errors in body posture and leg contact positions during locomotion. This research addresses the fundamental problem of how alternating estimations of body state and leg contacts lead to error accumulation over time. His 2001 paper "Dead Reckoning of Multi-legged Robot —Error Analysis—" (5 citations) further refines these concepts, providing a systematic framework for understanding and mitigating localization errors. Though his citation counts are modest, Masuda’s contributions are notable for their theoretical rigor and direct applicability to improving the reliability of legged robots in real-world applications. His work serves as an essential reference for researchers tackling odometry challenges in walking robots, bridging the gap between theoretical error models and practical robotic locomotion.