Yoshihito Koga

Papers

Total Citations

210

H-Index

About

Yoshihito Koga is a pioneering researcher in the field of robotic manipulation, with a primary focus on multi-arm and dual-arm motion planning. His most influential work, "On multi-arm manipulation planning" (2002), which has garnered 132 citations, addresses the complex challenge of automatically generating collision-free motion paths for multiple cooperating robot arms. A key innovation in this work is the planner’s ability to reason about and execute grasp changes—such as passing an object from one arm to another—to navigate obstacles. Koga further advanced this domain through his experimental validation in "Experiments in dual-arm manipulation planning" (2003, 59 citations), which bridged theoretical frameworks with practical implementation. His earlier dissertation, "On computing multi-arm manipulation trajectories" (1994), laid the foundational algorithms for this line of inquiry. Koga’s contributions are particularly notable for integrating high-level task planning with low-level control, as seen in his work on distributed control systems. By tackling the intricate coordination required for cooperative manipulation, Koga has provided essential tools and insights that continue to inform modern robotics research in manufacturing, logistics, and human-robot collaboration.