Papers
32
Total Citations
473
H-Index
12
About
T. Takubo’s research lies at the intersection of human-robot interaction, mobile manipulation, and bipedal locomotion, with a focus on enabling robots to work safely and effectively alongside humans. His most influential work, “Human-robot cooperative manipulation using a virtual nonholonomic constraint” (93 citations), introduced a novel assistance system where a robot and a human collaboratively carry a long object by coordinating motion through virtual constraints—a foundational contribution to physical human-robot collaboration. He extended this concept to 3-D space and later developed control methods for mobile manipulators using virtual impedance walls and model predictive control, ensuring stability and manipulability during cooperative tasks. In humanoid robotics, Takubo pioneered methods for pushing heavy objects during dynamic walking (55 citations) and walking on rough terrain using ZMP criteria maps (25 citations), advancing the practical mobility of bipedal robots. He also contributed to human-robot psychology, developing the PERNOD scale (19 citations) to systematically evaluate how humans perceive humanoid robots. His work on stair recognition with the limb mechanism robot ASTERISK (21 citations) further demonstrates his commitment to real-world robot autonomy. With over 330 total citations across these key papers, Takubo’s research has shaped how robots assist, cooperate with, and move alongside humans.
Research Focus
Key Achievements
Top Papers
- 1Human-robot cooperative manipulation using a virtual nonholonomic constraint93 citations · 2002
- 2
- 3Comparison of human psychology for real and virtual mobile manipulators32 citations · 2006
- 4
- 5Rough terrain walking for bipedal robot by using ZMP criteria map25 citations · 2009
- 6Control of mobile manipulator using a virtual impedance wall22 citations · 2003
- 7
- 8
- 9Development of a scale of perception to humanoid robots: PERNOD19 citations · 2010
- 10