Papers
4
Total Citations
30
H-Index
3
About
H. Takeda is a robotics researcher whose work focuses on multi-robot coordination, cooperative manipulation, and motion planning for industrial automation. A key contribution is the development of a collision avoidance algorithm for two tracked mobile robots transporting a single object, based on a function allocation concept (2002, 11 citations). This was extended with a load sharing algorithm for transporting objects in sloped environments, addressing the challenge of external forces in cooperative control (2005, 9 citations). Takeda has also explored whole-body multi-contact motion, introducing a goal-oriented simulation-based motion interpolator for complex contact transitions, demonstrated through knee-contact behavior experiments (2018, 8 citations). Most recently, Takeda’s work on optimizing welding sequences and robot paths for spot welding robots aims to prevent deformation of sheet metal parts, addressing the growing need for production automation and reducing the burden on human teachers (2024, 2 citations). With a career spanning over two decades, Takeda’s research bridges theoretical control algorithms and practical industrial applications, contributing to safer, more efficient robotic systems in manufacturing and cooperative transport.
Research Focus
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