Edi Leksono

Papers

Total Citations

111

H-Index

About

Edi Leksono is a pioneering researcher in the field of biomimetic robotics, with a core focus on bio-inspired locomotion and control systems. His most significant contribution lies in the design and implementation of robotic fish that mimic the paired pectoral fin locomotion of labriform fish. His landmark 2009 paper on this topic, which has garnered 107 citations, details the engineering of a fish robot capable of stable, agile swimming by replicating the natural fin movements of real fish. This work addresses the critical challenge of achieving optimal thrust speed, demonstrating that performance depends not only on a hydrodynamic body shape but also on the frequency of tail undulation and body angle. Beyond aquatic robotics, Leksono has advanced robust motion control theory, developing a novel motion controller algorithm that integrates a sliding mode controller with a disturbance observer. This scheme, presented in his 2002 work, enables high-performance, decoupled control for robotic systems by effectively estimating and compensating for acceleration disturbances. Through these contributions, Leksono has established himself as a key figure in merging biological principles with practical robotic design.