Kiyoharu Kakomura

Canon (Japan), Tokyo Institute of Technology

Papers

Total Citations

115

H-Index

About

Kiyoharu Kakomura is a pioneering researcher in modular and self-reconfigurable robotics, best known for his foundational work on the M-TRAN system. His primary research areas include modular robot design, autonomous docking mechanisms, and visual feedback control for reconfigurable systems. Kakomura’s major contribution lies in developing scalable, vision-based docking methods that allow individual robotic modules to autonomously connect and reconfigure. His 2007 paper, “Toward a scalable modular robotic system” (68 citations), introduced a novel approach using onboard camera modules and LEDs to absorb positional errors during docking, a critical step toward practical self-reconfiguring robots. His earlier 2006 work, “Docking Experiments of a Modular Robot by Visual Feedback” (47 citations), demonstrated the first successful integration of simple visual feedback with the M-TRAN platform, enabling modules in separate configurations to reliably dock. Together, these papers have shaped the field of modular robotics by proving that low-cost, camera-based systems can achieve robust autonomous reconfiguration. Kakomura’s research continues to inspire engineers building adaptable, scalable robot swarms for exploration, manufacturing, and disaster response.