Fumiaki Takemori
Papers
8
Total Citations
24
H-Index
3
About
Fumiaki Takemori is a robotics researcher whose work focuses on the control and stabilization of legged locomotion systems, particularly bipedal robots. His research addresses fundamental challenges in walking robots, including attitude control on uneven terrain, soft landing strategies, and obstacle avoidance. Takemori pioneered the use of gyroscopes for stabilizing biped walking robot models with circular arced soles, developing feedback control systems that allow these unstable structures to maintain balance without ankle actuators. His notable contributions include the "soft landing approach" for reduced biped robot models and the application of non-contact impedance control for legged robots carrying humans, enabling obstacle avoidance without physical contact. Takemori also explored hybrid control systems for stepping over obstacles and applied H-infinity control theory to pendulum-type walking models. Though his citation counts are modest, with his most cited work reaching 5 citations, his research represents foundational work in bipedal locomotion control, particularly for robots designed to navigate rugged, inaccessible environments where traditional infrastructure is unavailable.
Research Focus
Key Achievements
Top Papers
- 1
- 2Soft landing approach for a reduced biped robot model4 citations · 2004
- 3Mobility of legged robot by non-contact impedance control3 citations · 2008
- 4Attitude Control of a Tumbler System with Multi-Joints Using a Gyroscope3 citations · 1998
- 5Attitude Control of Tumbler Systems with Joints using a Gyroscope.3 citations · 1998
- 6Stepping Over Excess of Obstacle for Biped Robot Based on Hybrid Control2 citations · 2007
- 7
- 8Attitude control of tumbler systems with one joint using a gyroscope2 citations · 2002