Atushi Imadu

Yaskawa Electric (Japan), Osaka City University

Papers

Total Citations

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About

Atushi Imadu is a pioneering researcher in the field of robotics, with a primary focus on the control and optimization of dynamic, nonholonomic systems—particularly those inspired by human motion. His most impactful work, "Control of giant swing motion of a two-link horizontal bar gymnastic robot" (2001, 23 citations), introduces a novel control method that enables a two-link robot to execute three distinct types of stable giant swing motions. By analyzing eigenvalues on the Poincaré plane, Imadu demonstrated how to achieve and maintain these complex, periodic movements, offering foundational insights for the control of underactuated robots. Earlier, in "Optimal Motion Trajectory of Giant Swing" (1996, 3 citations), he extended numerical trajectory planning to nonholonomic constraint systems, modeling the human body as a 2-DOF serial link to compute optimal swing paths. His later work, "Path Planning by Using 3-dimensional Map Including Vertical Information" (2011, 2 citations), applied Q-learning to generate traversable paths for wheeled mobile robots on uneven terrain, addressing real-world mobility challenges. Imadu’s contributions bridge theoretical control theory and practical robotics, laying groundwork for advanced humanoid and gymnastic robot motion.