Atsuo Yabu

About

Atsuo Yabu is a robotics and control systems researcher whose work centers on the challenging problem of bipedal locomotion and attitude stabilization. His primary research area involves the development and control of "tumbler systems"—unstable, jointed structures with circular arced soles that serve as simplified models for biped walking robots. Yabu’s major contribution lies in demonstrating how a small gyroscope can be used as an effective actuator for attitude control in these inherently unstable systems. His most cited paper, "Attitude control of a biped walking robot model with circular arced soles using a gyroscope" (2002, 5 citations), details the design of a feedback control system to maintain balance on rugged terrain. He also applied advanced control strategies, such as the loop-shaping method based on H∞ control theory, to these pendulum-like models. Beyond robotics, Yabu has contributed to engineering education, developing mechatronic educational materials with embedded microcomputers (2011, 3 citations), designed to teach a broad range of topics from autonomous robots to factory automation. His work provides foundational insights into the use of gyroscopic stabilizers for legged robots.

Research Focus

Key Achievements

Top Papers

1. 1
   Attitude control of a biped walking robot model with circular arced soles using a gyroscope

   5 citations · 2002
2. 2
   Development of Educational Materials for Construction of Mechatronic Systems and Their Application

   3 citations · 2011
3. 3
   Attitude Control of a Tumbler System with Multi-Joints Using a Gyroscope

   3 citations · 1998
4. 4
   Attitude Control of Tumbler Systems with Joints using a Gyroscope.

   3 citations · 1998
5. 5
   Attitude control of a tumbler system with rotational joints using a gyroscope

   2 citations · 2002
6. 6
   Attitude control of tumbler systems with one joint using a gyroscope

   2 citations · 2002

Key Collaborators

Contact & Links