Fumio Hamano

About

Fumio Hamano is a leading figure in robot kinematics, best known for developing the Complete and Parametrically Continuous (CPC) kinematic model. His foundational work, published in 1992 and 2002, has garnered over 360 combined citations, establishing a standard for singularity-free, continuous parameterization of robot manipulators. This model resolved long-standing issues in kinematic calibration by ensuring parametric continuity—eliminating singularities that plagued earlier conventions—and completeness, enabling accurate representation of any robot geometry. Hamano’s research extends to observability in kinematic error identification, with key papers from 1990 and 1992 (over 45 citations) that derived generic error models independent of specific kinematic conventions, advancing the theoretical basis for robot calibration. He also contributed to optimal design of accuracy compensators, applying linear optimal control to correct pose errors after parameter identification. More recently, his work includes autonomous mapping using ultrasonic sensors (2017) and a clear derivation of the rotation matrix derivative formula (2013). Hamano’s contributions have profoundly impacted industrial robotics, enabling higher precision in manufacturing and automation through improved kinematic modeling and compensation techniques.

Research Focus

Key Achievements

Top Papers

1. 1
   A complete and parametrically continuous kinematic model for robot manipulators

   194 citations · 1992
2. 2
   A complete and parametrically continuous kinematic model for robot manipulators

   167 citations · 2002
3. 3
   Observability Issues in Kinematic Error Parameter Identification of Manipulators

   23 citations · 1990
4. 4
   Observability Issues in Kinematic Identification of Manipulators

   22 citations · 1992
5. 5
   Kinematic modeling, identification and compensation of robot manipulators

   19 citations · 1989
6. 6
   Optimal design of robot accuracy compensators

   12 citations · 1993
7. 7
   Derivative of Rotation Matrix Direct Matrix Derivation of Well Known Formula

   10 citations · 2013
8. 8
   Autonomous robot for mapping using ultrasonic sensors

   6 citations · 2017
9. 9
   Optimal design of robot accuracy compensators

   4 citations · 2003

Key Collaborators

Contact & Links