Hiroe Hashiguchi
Papers
14
Total Citations
253
H-Index
6
About
Hiroe Hashiguchi is a robotics and control systems researcher whose work centers on the fundamental challenges of kinematic redundancy, inverse kinematics, and biologically inspired motion generation in robotic systems. His most influential contribution addresses the long-standing "Bernstein's degrees-of-freedom problem" — the question of how living organisms and human-like robots resolve the inherent ill-posedness that arises when a system possesses more degrees of freedom than a task strictly requires. His landmark 2005 paper, "Natural Resolution of Ill-Posedness of Inverse Kinematics for Redundant Robots," has garnered 122 citations and established a principled, differential-geometric framework for generating natural, physically consistent joint motions grounded in the principle of least action. Complementing this theoretical foundation, Hashiguchi applied these insights to practical systems such as handwriting robots and multi-fingered robotic hands, demonstrating real-world viability through task-coordinate feedback and iterative learning control strategies. His investigations into under-actuated robots and supervisory teleoperation further reflect the breadth of his contributions. With over 200 cumulative citations, his body of work bridges neuroscience-inspired motor control theory and applied robotics engineering, offering students and researchers a rigorous yet elegant lens through which to understand redundant robotic motion.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5
- 6
- 7
- 8
- 9
- 10Supervisory Control Strategies in a Multi-Fingered Robotic Hand System3 citations · 2006