Hiroshi Oku

Papers

Total Citations

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About

Hiroshi Oku is a robotics researcher whose work focuses on adaptive control systems and humanoid robot motion, particularly in the domain of compliance and force-sensitive actuation. His key research areas include RC servo motor control, adaptive modeling, and the integration of low-cost sensor feedback for robotic joint manipulation. Oku’s most cited work, “Adaptive modeling and compliance control for RC servo motor” (2017), introduces a novel strategy for estimating external forces on humanoid robot joints by measuring motor drive current, enabling compliance motion control without expensive external sensors. This approach leverages auxiliary current sensors that can be easily attached, making it a practical and accessible solution for force estimation in robotics. Although the paper has garnered 2 citations to date, it represents a foundational step toward more adaptive and responsive humanoid systems. Oku’s contributions are particularly relevant for researchers exploring cost-effective, sensor-driven control in humanoid robotics, and his work highlights the potential of using existing hardware for enhanced robotic interaction with dynamic environments.