Kageharu Nosaki

Sony Computer Science Laboratories, Sony (Taiwan), Sony Corporation (United States)

Papers

Total Citations

148

H-Index

About

Kageharu Nosaki is a pioneering figure in the field of robotic manipulation and control systems, with a career dedicated to solving the complex challenges of multi-arm coordination. His most significant contribution is the development of the **Virtual Internal Model (VIM)** control architecture, first introduced in his seminal 1992 paper, which has garnered 114 citations. This innovative framework provides an alternative method for coordinating the motion of robot arms when manipulating a shared object, elegantly resolving the object’s motion and internal forces into the individual actions of each arm. By enabling arms to operate in harmony without requiring precise geometric knowledge of the object, Nosaki’s work laid a crucial foundation for advanced collaborative robotics. Earlier in his career, he also tackled the fundamental issue of nonlinearity in single-arm manipulators, proposing robust control strategies that linearize systems through nonlinear feedback—a concept that remains relevant for handling variable loads. With over 148 total citations across his key works, Nosaki’s research has profoundly influenced the design of dexterous, cooperative robotic systems, making him a respected authority in control theory and robot coordination.