S. Tsukagoshi

Epson (United States), Epson Information Technology College

Papers

Total Citations

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About

S. Tsukagoshi is a robotics researcher whose work has centered on the motion planning and control of articulated body mobile robots, with a particular focus on serpentine locomotion systems. Best known for contributions to the KORYU-II (KR-II) project, Tsukagoshi helped develop and refine steering control strategies for a seven-segment articulated robot measuring 3.3 meters in length and weighing 330 kilograms — a mechanically complex platform with significant engineering challenges. His most influential publication, "Basic Steering Control Methods for the Articulated Body Mobile Robot" (1995), has accumulated 30 citations and remains the cornerstone of his scholarly output, offering practical joint command generation strategies that account for both velocity and trajectory constraints across all robot segments. Complementing this work, his research into optimal steering control methods introduced energy consumption and trajectory tracking performance as dual optimization criteria, advancing the field's understanding of efficient multi-body locomotion. Though his citation profile is modest, Tsukagoshi's focused contributions to articulated robot kinematics and control provide a valuable technical foundation for researchers working on snake-like robots, search-and-rescue platforms, and other complex mobile systems operating in constrained environments.