Akihiro Morinaga

About

Akihiro Morinaga is a robotics researcher whose work spans nonholonomic systems, spherical rolling robots, and underwater robotic platforms. He is best known for his sustained and rigorous investigation into the dynamics and motion planning of spherical rolling robots actuated by internal rotors — a class of systems distinguished by the fundamental role of nonholonomic constraints in their locomotion. Beginning with foundational modeling work in 2012, Morinaga systematically developed full mathematical frameworks for these robots, demonstrating controllability conditions, characterizing dynamic singularities, and devising practical motion planning strategies. His 2014 paper on motion planning for a two-rotor spherical robot, his most cited work with 55 citations, is considered a key reference in the field, while his 2013 dynamic modeling study has accumulated 42 citations, underscoring his sustained influence. Together, his spherical robot publications have attracted well over 130 citations, establishing him as a leading contributor to this specialized yet mathematically rich domain. More recently, Morinaga has broadened his research scope to include underwater robotics, contributing to docking station ROVs for AUV power supply and innovative underwater cable-driven parallel robot systems, demonstrating both versatility and a commitment to practical marine robotics applications.

Research Focus

Key Achievements

Top Papers

1. 1
   A Motion Planning Strategy for a Spherical Rolling Robot Driven by Two Internal Rotors

   55 citations · 2014
2. 2
   On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors

   42 citations · 2013
3. 3
   On the dynamic model and motion planning for a class of spherical rolling robots

   21 citations · 2012
4. 4
   An analysis of the motion planning problem for a spherical rolling robot driven by internal rotors

   12 citations · 2012
5. 5
   On the motion planning problem for a spherical rolling robot driven by two rotors

   6 citations · 2012
6. 6
   Development of a Docking Station ROV for Underwater Power Supply to AUVs

   4 citations · 2021
7. 7
   On the Iterative Steering of a Rolling Robot Actuated by Internal Rotors

   4 citations · 2015
8. 8
   2A2-C05 Modeling of tire friction force for drifting control(Wheeled Robot / Tracked Vehicle (2))

   3 citations · 2014
9. 9
   Adaptive Kinematic Control of Underwater Cable-Driven Parallel Robot

   2 citations · 2023
10. 10
    Development and Simulation of Operational Scenarios for Underwater Cable-driven Parallel Robot

    2 citations · 2023

Key Collaborators

Contact & Links