Yuuki Wakayama

Papers

Total Citations

H-Index

About

Yuuki Wakayama is a pioneering roboticist whose work centers on the development of high-performance actuators for musculoskeletal bipedal robots. His core research areas include direct-drive actuation, force control, and magnetic levitation, specifically applied to the innovative "spiral motor"—a helical-shaped, contactless actuator. Wakayama’s major contributions lie in demonstrating how these motors can achieve high backdrivability and precise force control, which are critical for safe, human-like robot locomotion. His 2012 paper on force control of a spiral motor, which integrates zero-power magnetic levitation, has garnered 9 citations for its novel approach to overcoming manufacturing-induced neutral point fluctuations. Earlier, his 2010 work on a high-backdrivable direct-drive actuator, featuring a stator core made from Soft Magnetic Composite (SMC) to reduce iron loss, earned 7 citations and established a foundational prototype for musculoskeletal applications. By addressing the challenges of smooth helical surfaces and touchdown stability, Wakayama’s research has advanced the practicality of direct-drive systems in robotics. His achievements highlight a dedicated effort to bridge the gap between theoretical actuator design and real-world bipedal locomotion, making his work a key reference for researchers in legged robotics and compliant actuation.