Papers
15
Total Citations
98
H-Index
7
About
Yuichiro Taira is a robotics and control systems researcher whose work spans two principal domains: space robotics and underwater vehicle-manipulator systems. He is best known for his sustained development of control methodologies based on the transpose of the generalized Jacobian matrix (GJM), a mathematically elegant approach to controlling free-floating space robot manipulators without requiring precise knowledge of all system parameters. Beginning in the early 2000s, Taira pioneered digital adaptive control frameworks for space robots, addressing practical challenges such as unknown payload parameters and joint input constraints — problems that arise when a robot captures an uncharacterized object in orbit. His 2008 work extended these ideas to cooperative multi-robot manipulation of floating objects, demonstrating broader applicability. Accumulating over 85 citations across his most recognized publications, his research has provided a foundational toolkit for space robotics control design. In parallel, Taira has made meaningful contributions to underwater robotics, developing motion and force control strategies — including both linear and nonlinear force error filters — for underwater vehicle-manipulator systems, with work spanning from 2017 to 2021. His career reflects a disciplined focus on robust, adaptive control for dynamically complex robotic systems operating in challenging environments.
Research Focus
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