Kenichiro Nonaka
Papers
23
Total Citations
140
H-Index
7
About
Kenichiro Nonaka is a robotics and control systems researcher whose work centers on mobile robot navigation, obstacle avoidance, and advanced control methodologies. His research has made significant contributions to the development of leg/wheel hybrid mobile robots, with a particular focus on applying model predictive control (MPC) to solve complex, real-world locomotion challenges. His most cited work (19 citations) introduces an innovative approach to optimizing articulated leg configurations and wheel positions simultaneously, enabling robots to navigate flexibly through cluttered environments. Alongside this, Nonaka has pioneered the integration of fuzzy potential methods with MPC to account for robot shape and obstacle dynamics during avoidance maneuvers, demonstrating both theoretical depth and practical applicability. His research extends to mobile manipulators, autonomous localization — including strategies to avoid singularity-prone environments using LRF-based sensing — and velocity estimation via nonlinear observers for caster odometers. A recurring theme across his body of work is computational efficiency, with several contributions addressing real-time implementation on embedded hardware. Collectively accumulating over 95 citations, Nonaka's research provides foundational tools for the next generation of autonomous, adaptable mobile robotic systems.
Research Focus
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