Ryoichi Hashimoto

Papers

Total Citations

H-Index

About

Ryoichi Hashimoto’s pioneering work in robotics centers on the mathematical foundations of manipulator performance, particularly through the development of novel manipulability indices. His key contributions include the introduction of the harmonic mean type manipulability index for robotic arms in 1985, which offered a refined metric for evaluating a manipulator’s dexterity and kinematic performance. This foundational paper, with 7 citations, established a new perspective on how to quantify a robot’s ability to move and apply forces in its workspace. Hashimoto further advanced this line of inquiry with a 1989 study on the quadra-harmonic mean type manipulability index (H2), providing rigorous mathematical analysis of its properties and characteristics. This work demonstrated that essential properties of manipulability indices—such as invariance, boundedness, and sensitivity to singular configurations—could be elegantly captured through harmonic means, making them practically applicable for theoretical and numerical analyses of robotic systems. Though his citation counts are modest, Hashimoto’s contributions represent a thoughtful, mathematically rigorous approach to a core problem in robotics, offering tools that continue to inform the design and analysis of robotic arms.