M. Hirano
Papers
2
Total Citations
311
H-Index
2
About
M. Hirano is a leading figure in the field of robotic control, with a primary focus on developing robust control strategies for systems with uncertain kinematics and dynamics. His most significant contribution is the pioneering concept of "Approximate Jacobian Control," which fundamentally addresses a critical real-world limitation: the impossibility of deriving exact physical parameters for robots. Hirano demonstrated that effective setpoint control is achievable even without precise knowledge of the Jacobian matrix or the robot's dynamics. His seminal 2003 paper on this topic has garnered approximately 270 citations, serving as a cornerstone for researchers tackling uncertainty in robotic systems. Building on this, his 2004 work introduced task-space damping to these approximate control laws, further enhancing their practicality for manipulators by ensuring end-effector position convergence. By relaxing the stringent requirement for exact models, Hirano’s work has significantly advanced the field, enabling more adaptable and resilient robotic systems capable of handling variable payloads and uncertain environments.
Research Focus
Key Achievements
Top Papers
- 1Approximate jacobian control for robots with uncertain kinematics and dynamics270 citations · 2003
- 2Approximate Jacobian Control With Task-Space Damping for Robot Manipulators41 citations · 2004