Koichi Sugimoto
Papers
1
Total Citations
2
H-Index
1
About
Koichi Sugimoto’s research centers on the kinematics and control of serial robots, with a particular focus on the challenging problem of singularities—configurations where a robot’s joints must move abruptly, often exceeding actuator velocity limits. His most cited work, the 2007 paper “Algorithm for Serial Robots Passing Through the Singular Point Spanning a Lie Algebra,” introduces a mathematical framework based on Lie algebra to enable robots to traverse singular points smoothly, rather than requiring a stop. This contribution addresses a fundamental limitation in robotic motion planning, offering a theoretical solution that has garnered 2 citations and remains a reference for researchers tackling singularity avoidance. Sugimoto’s approach bridges abstract algebraic concepts with practical robotics, demonstrating how Lie algebra can model and control joint trajectories near singularities. His work is notable for its rigorous mathematical foundation and its potential to enhance the autonomy and efficiency of industrial robots. For students and researchers in robotics, Sugimoto’s research exemplifies the power of algebraic methods in solving real-world kinematic challenges, making his contributions a valuable resource for advancing robot dexterity and reliability.
Research Focus
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Top Papers
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