Toshiyuki Ohtsuka
Ryukoku University, Kyoto University, The University of Osaka, University of Tsukuba
Papers
14
Total Citations
108
H-Index
6
About
Toshiyuki Ohtsuka is a leading figure in nonlinear model predictive control (NMPC) and optimal control for switched systems, with profound applications in robotics. His pioneering work on the moving switching sequence approach and online switching time optimization has enabled real-time NMPC for complex systems with state-dependent switches and state jumps, directly impacting whole-body control of robots with rigid contacts. Ohtsuka’s contributions extend to real-time state estimation under unknown disturbances and the development of ParNMPC, a highly parallelized optimization toolkit that accelerates NMPC for fast-sampling, large-scale applications. His research on gait generation for biped robots, leveraging dynamical symmetry and constraint mechanisms, has advanced walking control and climbing locomotion for humanoid robots. With over 100 citations across his most-cited works, Ohtsuka’s impact is evident in both theoretical foundations and practical implementations, including warehouse robot path planning. His notable achievement includes the integrated optimization of climbing locomotion, demonstrating NMPC’s versatility in real-time motion generation. Ohtsuka’s work continues to inspire advancements in control theory and robotic autonomy.
Research Focus
Key Achievements
Top Papers
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- 3Nonlinear Receding-Horizon State Estimation with Unknown Disturbances11 citations · 1999
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- 9Integrated Optimization of Climbing Locomotion for a Humanoid Robot5 citations · 2019
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