Ryo Kikuuwe

About

Ryo Kikuuwe is a leading figure in robot control, renowned for pioneering work that bridges the gap between high-performance automation and human safety. His primary research centers on sliding mode control, admittance control, and robotic haptics, where he has made transformative contributions. Kikuuwe is best known for inventing Proxy-Based Sliding Mode Control (PSMC), a method that uniquely combines the accurate tracking of a PID controller with the safety of a sliding mode controller, ensuring compliant behavior during unexpected collisions. This foundational work, with 88 citations, has been critical for developing safer industrial and assistive robots. He further advanced the field with a sliding-mode-like position controller for admittance control (58 citations), enabling robots to handle bounded forces without sacrificing precision. His research also extends to robot perception, where he developed techniques for a robot to "feel" its environment by estimating impedance and friction from contact (36 and 18 citations). With over 300 total citations, Kikuuwe’s work is essential reading for anyone designing robots that must be both responsive and safe, particularly in human-robot interaction and rehabilitation.

Research Focus

Key Achievements

Top Papers

1. 1
   Proxy-based sliding mode control for accurate and safe position control

   88 citations · 2006
2. 2
   A Sliding-Mode-Like Position Controller for Admittance Control With Bounded Actuator Force

   58 citations · 2014
3. 3
   Robot perception of environment impedance

   36 citations · 2003
4. 4
   A Guideline for Low-Force Robotic Guidance for Enhancing Human Performance of Positioning and Trajectory Tracking: It Should Be Stiff and Appropriately Slow

   27 citations · 2008
5. 5
   Parameter Selection Guidelines for a Parabolic Sliding Mode Filter Based on Frequency and Time Domain Characteristics

   26 citations · 2012
6. 6
   An Improved Sliding Mode Differentiator Combined with Sliding Mode Filter for Estimating First and Second-order Derivatives of Noisy Signals

   25 citations · 2020
7. 7
   An identification procedure for rate-dependency of friction in robotic joints with limited motion ranges

   21 citations · 2016
8. 8
   Recognizing surface properties using impedance perception

   18 citations · 2004
9. 9
   Some Improvements in Elastoplastic Friction Compensator

   13 citations · 2017
10. 10
    Some stability proofs on proxy-based sliding mode control

    13 citations · 2017

Key Collaborators

Contact & Links