Makoto Ono

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Total Citations

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About

Makoto Ono is a robotics researcher specializing in nonlinear control and underactuated mechanical systems, with a particular focus on the Acrobot—a two-link planar robot with a single actuator at the second joint. His most cited work, "New results of angular momentum based stabilizing control of the Acrobot" (2017, 2 citations), addresses a fundamental challenge in robotics: stabilizing the upright equilibrium of this inherently unstable system. Ono’s key contribution lies in developing angular momentum-based controllers that significantly expand the region of attraction, enabling the Acrobot to recover from a wider range of initial conditions. This approach leverages the system’s natural dynamics rather than relying solely on brute-force actuation, offering elegant solutions for underactuated robots, humanoid balance, and rehabilitation devices. While his citation count is modest, his work is notable for its theoretical rigor and practical implications in nonlinear control design. Ono’s research bridges classical mechanics and modern control theory, providing foundational insights for students and researchers working on bipedal locomotion, robotic gymnastics, and energy-efficient stabilization. His focus on angular momentum as a control variable represents a creative departure from traditional methods, making his contributions valuable for advancing the field of underactuated robotics.