Sho Miyahara

Papers

Total Citations

H-Index

About

Sho Miyahara is a robotics researcher whose work centers on the control and motion planning of redundant robotic systems, with a particular focus on humanoid locomotion and manipulation. His key contributions lie in developing analytical frameworks for singular path tracking and robust walking control under external disturbances. In his 2017 paper, "Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs," Miyahara derived a closed-form solution for the pseudoinverse, enabling precise trajectory tracking even near kinematic singularities—a critical challenge in redundant manipulators. This work has garnered 11 citations, reflecting its foundational value in the field. His 2019 study, "Walking With Hand Motion/Force Control and CoM/VRP and Trunk Compliance for Disturbance Accommodation," advances humanoid walking by integrating Center of Mass (CoM) and Virtual Repellent Point (VRP) compliance with trunk flexibility, allowing bipedal robots to maintain balance and adapt to unexpected pushes or terrain changes. With 5 citations, this paper demonstrates practical strategies for disturbance accommodation. Miyahara’s research bridges theoretical rigor and real-world application, offering elegant solutions for redundant limb control and resilient locomotion—essential for next-generation humanoid robots operating in dynamic environments.