Naoki Takahashi
Tokyo City University, Chuo University, The Cancer Institute Hospital
Papers
7
Total Citations
46
H-Index
4
About
Naoki Takahashi is a robotics researcher whose work centers on the motion planning and control of leg/wheel mobile robots — hybrid systems that combine articulated legs with wheels to navigate complex and unstructured environments. His most significant contributions lie in applying model predictive control (MPC) to optimize the configuration of these robots, enabling them to avoid obstacles, maintain stability, and adapt to challenging terrain with greater intelligence and flexibility. His 2020 paper on optimal configuration control, which has garnered 19 citations, introduced a framework for simultaneously optimizing leg joint angles and wheel positions, offering a practical and computationally manageable approach to a notoriously difficult control problem. Earlier foundational work from 2012 established model predictive obstacle avoidance in narrow indoor spaces, while subsequent studies extended his methods to rough terrain load distribution, three-dimensional posture control using zero moment point principles, and adaptation to ground-level changes. With a research career spanning over two decades, Takahashi has also explored human-robot interaction through laser pointer and speech recognition interfaces. His cumulative body of work, totaling over 40 citations, reflects a sustained commitment to making versatile mobile robots more capable and deployable in real-world settings.
Research Focus
Key Achievements
Top Papers
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