Tsuyoshi Yamashita
Papers
9
Total Citations
207
H-Index
6
About
Tsuyoshi Yamashita investigates the biomechanics and control of legged locomotion, bridging robotics and biological principles. His core research focuses on how nonlinear oscillators with phase resetting can generate and transition between gaits in quadruped and biped robots, mimicking animal locomotion. Yamashita’s major contributions include uncovering the stability-based mechanism behind hysteresis in the walk–trot transition—a phenomenon where the speed at which an animal switches gaits differs depending on whether it is accelerating or decelerating. His work on quadruped robots (e.g., 2013, 82 citations) demonstrated that this hysteresis emerges from dynamic interactions between mechanical systems and neural oscillators, not from explicit programming. He also explored adaptive splitbelt treadmill walking in biped robots, showing how phase resetting enables stable locomotion across varying belt speeds. Beyond legged robots, Yamashita applied input shaping control to suppress liquid sloshing during robotic arm transfers (2010, 24 citations). His experimental validations (e.g., 2011, 6 citations) confirm that oscillator-driven robots can autonomously produce diverse gaits through dynamical interactions. With over 200 total citations, Yamashita’s work provides foundational insights into gait transition mechanisms, offering design principles for more adaptive and resilient legged robots.
Research Focus
Key Achievements
Top Papers
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- 9Emergence of hysteresis in gait transition by changing walking speed of an oscillator-driven quadruped robot2 citations · 2010