Shinji Hara
Papers
7
Total Citations
49
H-Index
4
About
Shinji Hara is a pioneering researcher in the field of robotics and control systems, with a primary focus on energy-based control, hybrid systems, and complementarity modeling. His work centers on developing innovative control strategies for complex mechanical systems, particularly hopping and jumping robots, as well as hyper-redundant mechanisms like snake-like robots. Hara's major contributions include the development of energy-preserving control methods for hopping robots using hybrid port-controlled Hamiltonian modeling, which has garnered 20 citations, and the formulation of optimal control strategies for high-jump robots through complementarity modeling, a framework that efficiently handles variable constraints and hybrid dynamics. His research on switched feedback control for symmetric affine systems and the analysis of trident snake-like mobile robots further demonstrates his versatility in addressing both theoretical and practical challenges in robotics. With a total of 49 citations across his most-cited works, Hara's impact is evident in his ability to bridge bottom-up and top-down approaches to dynamics, offering foundational insights into the control of hyper-redundant mechanical systems. His notable achievements include pioneering the use of complementarity modeling for robotic locomotion, which has influenced subsequent research in hybrid optimal control and energy-efficient robotic design.
Research Focus
Key Achievements
Top Papers
- 1
- 2Optimal control strategy for high jump based on complementarity modeling8 citations · 2002
- 3
- 4Optimal high-jump control of linear 1-d.o.f trampoline robot6 citations · 2003
- 5
- 6Control Strategy for Optimal High Jump Based on Complementarity Modeling2 citations · 2002
- 7Analysis and Control of a Trident Snake-Like Mobile Robot2 citations · 2003