Papers
9
Total Citations
78
H-Index
5
About
Osamu Mori is a pioneering roboticist whose research centers on self-reconfigurable parallel robots, nonholonomic locomotion, and whole-body manipulation. His most influential work introduces a novel class of reconfigurable robots that form 4R and 5R closed kinematic chains, enabling dynamic rolling locomotion with only two actuated joints—a breakthrough in underactuated robotics. Mori’s 2004 paper on nonholonomic rolling control (20 citations) demonstrates how these robots exploit passive joints to achieve complex motion, fundamentally advancing the theory of reconfigurable mechanisms. He also proposed the concept of “whole quadruped manipulation” (14 citations), where a quadruped robot uses its entire body—including knees and legs as arms—to manipulate large objects, expanding the capabilities of legged robots beyond locomotion. By mounting parallel mechanisms on crawler systems, Mori created mobile robots that combine locomotion with manipulation, gaining practical functionalities for real-world tasks. His work on dynamic, stable reconfiguration through coupling and decoupling of underactuated limbs (8 citations) provides foundational principles for adaptive robotics. With over 70 total citations, Mori’s contributions are essential reading for researchers in reconfigurable robotics, nonholonomic systems, and whole-body manipulation.
Research Focus
Key Achievements
Top Papers
- 1
- 2Whole quadruped manipulation14 citations · 2003
- 34R and 5R parallel mechanism mobile robots11 citations · 2004
- 4
- 5
- 64R and 5R Parallel Mechanism Mobile Robots5 citations · 2005
- 7Self-reconfigurable planar parallel robot4 citations · 2005
- 8Self-reconfigurable planar parallel robot in the horizontal plane4 citations · 2004
- 9