Atsushi Sakamoto
Papers
4
Total Citations
31
H-Index
3
About
Atsushi Sakamoto is a robotics researcher whose work spans two compelling frontiers: human-robot cooperation and advanced legged locomotion systems. His early research focused on developing intelligent control strategies for collaborative tasks between humans and robots, most notably addressing the limitations of conventional impedance control in cooperative manipulation. His 2004 work on switching control for position/torque modes enabled robots to perform precise cooperative fitting tasks — such as peg-in-hole assembly — that had previously proven unstable, earning 14 citations and establishing a foundation for safer, more intuitive human-robot interaction. More recently, Sakamoto has turned his attention to cutting-edge quadruped and multi-limbed robot design. His work on Tachyon introduced a novel series-parallel elastic actuator (SPEA) architecture combined with a four-bar linkage knee joint, pushing the boundaries of payload capacity, robustness, and energy-efficient dynamic locomotion. Building on this platform, his 2024 research on the six-wheeled-telescopic-legged Tachyon 3 demonstrates a sophisticated real-time perceptive motion control system using Control Barrier Functions with analytical smoothing — a significant step toward safe, constraint-aware locomotion in complex environments. Sakamoto's trajectory reflects a deep commitment to bridging theoretical control innovation with practical, deployable robotic systems.
Research Focus
Key Achievements
Top Papers
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