Koshi Makihara
Papers
1
Total Citations
8
H-Index
1
About
Koshi Makihara is a robotics researcher whose work focuses on the intersection of geometric and mechanical constraints in robotic manipulation, particularly in the domain of caging grasps. His key contributions lie in developing quantitative frameworks that unify traditionally separate considerations—geometrical confinement and mechanical feasibility—to evaluate how effectively a robot can immobilize an object. In his most cited work, "Homogeneous Quantitative Measure of Caging Grasps with both Geometrical and Mechanical Constraints" (2019), Makihara introduces a novel metric that assesses the difficulty of moving an object by integrating both the shape-based enclosure provided by a robot's configuration and the physical forces at play. This approach addresses a critical gap in caging grasp theory, where prior methods often overlooked real-world limitations like a robot's limited number of fingers or joint constraints. With 8 citations, this paper has influenced subsequent studies in robotic grasping and manipulation, offering a more practical, unified perspective. Makihara’s research is particularly valuable for students and engineers designing robust, adaptable robotic hands, as it bridges theoretical geometry with applied mechanics, paving the way for more reliable and efficient grasping strategies in unstructured environments.
Research Focus
Key Achievements
Top Papers
- 1