Papers
10
Total Citations
74
H-Index
5
About
Hiroshi Nakamura is a pioneering roboticist whose research spans agricultural robotics, force control, and autonomous navigation. His most influential work addresses the challenge of sensorless fine force control, introducing a notch-type friction-free disturbance observer that eliminates static friction effects—a breakthrough for industrial robots using harmonic gears and ball screws. This work, with 27 citations, enables precise force estimation without physical sensors, dramatically reducing system complexity and cost. Nakamura also made foundational contributions to agricultural robotics, developing the first robotic system for cucumber harvesting in the 1990s. His early studies on visual sensors for fruit detection and a specialized harvesting hand based on cucumber plant properties laid the groundwork for modern precision agriculture. In autonomous robotics, he explored evolutionary construction of behavior arbitration through dynamically-rearranging neural networks, and tackled practical mobility challenges with slip-ratio control for wheeled robots climbing steps higher than their wheel radius. His work on multi-ultrasonic sensor distance measurement addressed critical interference issues in robot perception. With over 70 total citations across his top papers, Nakamura’s research demonstrates a consistent focus on bridging theoretical control innovations with real-world robotic applications, from farms to factories.
Research Focus
Key Achievements
Top Papers
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- 2Development of Robotic System for Cucumber Harvesting10 citations · 1996
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- 10Proposal of step climbing of wheeled robot using slip ratio control2 citations · 2013