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About

Takayuki Hori is a leading researcher in the field of robotic manipulation and locomotion, with a primary focus on force and impedance control for complex robotic systems. His work addresses the critical challenge of enabling robots to interact safely and effectively with unstructured, real-world environments. Hori’s major contributions include pioneering force control methods for hexapod walking robots on rough terrain, utilizing a torque observer to maintain stability on soft surfaces like soil and gravel. He has also made significant advances in multi-finger-arm robot control, developing novel algorithms that integrate impedance control with manipulability regulation. His 2009 and 2015 papers propose sophisticated methods for grasping control by computing internal and external impedances, allowing for more stable and dexterous manipulation. Furthermore, Hori has explored admittance control strategies that compensate for arm movement to preserve finger manipulability. While his most-cited work, "Force control for hexapod walking robot with torque observer" (2002), has garnered 11 citations, his cumulative research provides a foundational framework for the development of robots capable of both stable locomotion and precise, adaptive grasping in demanding, unstructured environments.