Papers
4
Total Citations
56
H-Index
4
About
Yuki Matsutani is a leading researcher in bio-inspired robotics, specializing in musculoskeletal and tensegrity systems. His work focuses on the fundamental challenge of controlling robots that mimic biological structures, where redundant actuation is necessary because tendons can only pull, not push. Matsutani’s major contributions include pioneering numerical analyses of feedforward position control for non-pulley musculoskeletal systems, demonstrating how muscular arrangements in a two-link planar system with six muscles can achieve precise motion. His 2013 paper on this topic has garnered 30 citations, establishing a foundation for understanding internal force and potential energy in redundant systems. He further advanced the field with sensorless point-to-point control for tendon-driven manipulators (15 citations), enabling motion without external sensors by leveraging internal tendon forces for balance. Matsutani also developed a prototype tensegrity robot with nine wires (7 citations) that can switch between rolling and gaited locomotion by altering its shape. Notably, his work on variable joint stiffness mechanisms (4 citations) allows tendon-driven robots to dynamically adjust stiffness, enhancing adaptability. Through these achievements, Matsutani has significantly advanced the design and control of compliant, biologically inspired robotic systems.
Research Focus
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