Papers
8
Total Citations
125
H-Index
6
About
Haruyuki Yoshida is a robotics researcher whose work has made significant contributions to the field of humanoid robot control, with a particular focus on mobile manipulation — the complex challenge of coordinating arm and leg movements in bipedal robots performing real-world tasks. Working primarily in the early 2000s, Yoshida developed innovative real-time control methods that enable humanoid robots to execute arm-based tasks while simultaneously moving, employing impedance control to manage external forces and maintain precise end-effector positioning. His most cited work (2002, 52 citations) introduced an evaluation function balancing manipulability and stability, a foundational contribution to integrated whole-body robot control. He further extended this research by addressing optimal posture generation for maximizing force output at the robot's hands under joint torque constraints, and by developing strategies that allow leg motion to actively support and enhance arm manipulation quality. Beyond humanoid robotics, Yoshida also explored rheological object modeling for haptic and manipulation applications. With a cumulative body of work totaling over 125 citations, his research has informed the development of more capable, stable, and versatile humanoid robotic systems, and he additionally contributed to engineering education through creative design exercises at Osaka Electro-Communication University.
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