Masahiro Kaneda
Okayama Prefectural University, Tokyo Institute of Technology
Papers
10
Total Citations
259
H-Index
5
About
Masahiro Kaneda is a robotics and control systems researcher whose work has made significant contributions to the field of underactuated robotic systems, particularly in the domain of swing-up control and energy-based control strategies. His research primarily focuses on gymnastic and acrobatic robots — systems characterized by fewer actuators than degrees of freedom — presenting unique and challenging control problems that demand innovative theoretical solutions. Kaneda's most influential contribution is his rigorous analysis of energy-based swing-up control for the Acrobot, a two-link underactuated robot, which has garnered 109 citations and established foundational necessary and sufficient conditions for this class of control problems. Building on this, his work extended these principles to more complex three-link gymnastic robots with passive joints, attracting an additional 82 citations and demonstrating the scalability of his methods. He also explored posture control of free-flying Acrobots with nonzero initial angular momentum, addressing real-world dynamic constraints. Across his body of work, Kaneda has systematically developed and generalized energy-based frameworks for increasingly complex multi-link underactuated systems, offering both theoretical depth and practical design methodologies that continue to inform researchers working in nonlinear control and robotic motion planning.
Research Focus
Key Achievements
Top Papers
- 1Analysis of the energy‐based swing‐up control of the Acrobot109 citations · 2007
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- 4THE SWING UP CONTROL FOR THE PENDUBOT BASED ON ENERGY CONTROL APPROACH11 citations · 2002
- 5Energy based Swing-up Control for a 3-Link Robot with Passive Last Joint8 citations · 2006
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