Hisashi Kando

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About

Hisashi Kando has dedicated his career to advancing the control of flexible and elastic robotic systems, a field critical for creating safer, lighter, and more dexterous robots. His research centers on the complex challenges of robust trajectory tracking and force control for manipulators that are not rigid, addressing the inherent structural uncertainties that make such systems difficult to manage. Kando’s most influential work, "Robust Trajectory Tracking Control of Elastic Robot Manipulators" (1997, 41 citations), proposed a pioneering control strategy designed to handle both the nonlinear dynamics of the robot’s structure and the unpredictable effects of link elasticity. This foundational contribution provided a key framework for ensuring precise motion despite mechanical flexibility. Furthering this line of inquiry, his 2002 paper on optimal force control tackled the critical problem of contact motion, developing a method for a flexible arm to smoothly transition from free movement to constrained contact with an environment without switching control laws. This work is particularly notable for its focus on the seamless integration of motion and force control, a vital capability for robots performing assembly or manipulation tasks. Kando’s research remains a valuable reference for engineers seeking to build more robust and adaptable robotic systems.