Papers
5
Total Citations
57
H-Index
3
About
Tomohiro Henmi is a robotics and control systems researcher whose work centers on nonlinear control of underactuated mechanical systems, with a particular focus on the Acrobot — a two-link robotic model inspired by horizontal bar gymnastics. His most influential contribution, a 2006 paper on swing-up control using a novel partial linearization controller grounded in Lyapunov stability theory, has garnered 35 citations and remains a key reference in the underactuated robotics literature. Building on earlier foundational work from 2004, which addressed the practical constraint of limited joint rotation ranges, Henmi has systematically advanced gymnastic-inspired control strategies, analyzing how parameters such as desired angle ratios influence overall control performance. His research uniquely bridges biomechanical intuition — drawing from the dynamics of human gymnasts — with rigorous mathematical control design. Beyond theoretical contributions, Henmi has demonstrated a commitment to science and technology education, developing project-based learning workshops where elementary school children assemble and analyze mini-robots. Across his body of work, totaling over 55 citations, Henmi has established himself as a thoughtful contributor to both advanced robotics control theory and the cultivation of the next generation of engineers.
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