Toshiyuki Homma

The University of Osaka, Kawasaki Heavy Industries (Japan)

Papers

Total Citations

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About

Toshiyuki Homma is a robotics researcher whose work bridges the fields of biomechanics and humanoid locomotion, with a particular focus on designing robotic systems that emulate the complexity of the human musculoskeletal system. His key research areas include bipedal walking robots, bio-inspired ankle-foot mechanisms, and robotic manipulation for industrial automation. Homma’s most significant contribution is the development of a humanlike ankle-foot complex for biped robots, which incorporates a three-link, two-joint structure with four plantar muscles controlled by McKibben pneumatic actuators. This design, detailed in his highly cited 2012 paper (40 citations), allows for variable mechanical stiffness, enabling more natural and stable walking patterns. He further explored how musculoskeletal structures influence the roll-over shape of passive-dynamic walkers, providing insights into the biomechanics of human gait. In addition to locomotion, Homma has contributed to industrial robotics with a 2022 proposal for a multi-work picking system designed to reduce cycle times in bulk picking tasks, showcasing his versatility. His work has been recognized for advancing the integration of human anatomy principles into robotic design, with his 2012 paper serving as a foundational reference for researchers in bio-inspired robotics.