T. Kihara

Papers

Total Citations

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About

T. Kihara is a researcher whose work lies at the intersection of robotics and fluid dynamics, with a particular focus on the complex problem of liquid sloshing control. His most cited paper, "Path design and trace control of a wheeled mobile robot to damp liquid sloshing in a cylindrical container" (2006, 9 citations), represents a significant contribution to the field of mobile manipulation and transport safety. In this work, Kihara developed an innovative spherical pendulum-type model to represent the dynamic behavior of liquid sloshing within a cylindrical container, specifically as it is induced by the motions of a wheeled mobile robot. This model was then ingeniously applied to design both the robot's path and its acceleration pattern, with the explicit goal of actively damping the sloshing motion. This research is particularly valuable for applications in automated material handling, such as in warehouses or industrial settings, where the safe transport of open liquid containers is critical. Kihara's approach demonstrates a sophisticated integration of robotic path planning with physical system modeling, offering a practical solution to a challenging control problem that balances robot mobility with the need to minimize disruptive fluid motion.