Papers
9
Total Citations
91
H-Index
4
About
Taro Takahashi is a leading researcher in the field of compliant and collaborative robotics, with a focus on enabling safe and adaptive physical human-robot interaction. His key research areas include torque sensing, resonance suppression control, and backdrivable joint mechanisms for humanoid and human-support robots. Takahashi’s most impactful contribution is the development of Cr-N alloy thin-film based torque sensors, which enable stiffer and more precise torque sensing for joint torque servo systems, as detailed in his most-cited paper (2013, 54 citations). He also pioneered Self Resonance Cancellation (SRC) control for two-mass systems, a method that suppresses vibration in robot joints using load-side encoders, and extended this work with robust resonance suppression and disturbance observers. His research on high backdrivability (2018) and probabilistic impedance control (2019) further advances safe physical interaction. Takahashi’s work has been cited over 80 times, with his torque sensor and SRC control papers forming the foundation for compliant actuation in humanoid robots. His notable achievements include developing control strategies for biped walking robots, including the active use of toe support phases to enhance walking speed and stability.
Research Focus
Key Achievements
Top Papers
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- 3Filtered Disturbance Observer for High Backdrivable Robot Joint7 citations · 2018
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