H. Tokumaru
Papers
3
Total Citations
162
H-Index
3
About
H. Tokumaru is a robotics researcher whose work has made meaningful contributions to the fields of robot dynamics, flexible manipulator control, and robotic manipulation theory. Best known for foundational research in the inverse dynamics of flexible robot arms, Tokumaru's 1990 paper on trajectory control introduced an elegant computational framework using virtual rigid link coordinates to model and calculate the actuator torques required for flexible arms to follow prescribed trajectories — a technically challenging problem with significant practical implications for precision robotics. This work has accumulated 152 citations, reflecting its lasting influence on the robotics control community. Tokumaru also contributed to the theoretical underpinnings of robotic manipulation through research on the kinematics of constrained object motion, employing the theory of polyhedral convex cones to analyze grasping and assembly operations. This framework provides a rigorous mathematical basis for understanding how robots interact with objects through mechanical contacts — a problem central to industrial automation and dexterous manipulation. Together, these contributions span both the dynamic control of compliant robotic structures and the geometric theory of manipulation, positioning Tokumaru as a thoughtful contributor to classical robotics research during a formative period in the field's development.
Research Focus
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