Taiga Yamasaki

About

Taiga Yamasaki is a robotics and control systems researcher whose work has made significant contributions to the fields of underactuated robotic systems and bipedal locomotion. His research focuses primarily on developing energy-based control strategies for complex multi-link robotic systems, particularly swing-up and stabilization control for underactuated robots such as the Acrobot, Pendubot, and their generalizations. Yamasaki's most influential contribution, "Energy-Based Swing-Up Control for a Remotely Driven Acrobot" (2011, 62 citations), introduced novel theoretical and experimental solutions for controlling robots where actuation is physically separated from the moving joints — a challenging and practically relevant problem. His foundational work on virtual composite links, which simplifies the control design for n-link underactuated systems with passive joints, has garnered 55 citations and provided a generalizable framework adopted by subsequent researchers. His 2009 study on dynamic stability and phase resetting in biped gait (41 citations) demonstrates his breadth, bridging robot control with human neuromechanics. Collectively accumulating over 230 citations, Yamasaki's body of work spans theoretical analysis, analytical derivations, and experimental validation, making his research especially valuable for students and engineers working on nonlinear control, robotics, and biomechanics-inspired locomotion systems.

Research Focus

Key Achievements

Top Papers

1. 1
   Energy-Based Swing-Up Control for a Remotely Driven Acrobot: Theoretical and Experimental Results

   62 citations · 2011
2. 2
   Swing-up control based on virtual composite links for <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" altimg="si22.gif" display="inline" overflow="scroll"><mml:mi>n</mml:mi></mml:math>-link underactuated robot with passive first joint

   55 citations · 2009
3. 3
   Dynamic stability and phase resetting during biped gait

   41 citations · 2009
4. 4
   New analytical results of energy-based swing-up control for the Pendubot

   35 citations · 2013
5. 5
   Energy based Swing-up Control for a 3-Link Robot with Passive Last Joint

   8 citations · 2006
6. 6
   Anti‐Swing control of the Pendubot using damper and spring with positive or negative stiffness

   7 citations · 2021
7. 7
   Revisiting energy-based swing-up control for the Pendubot

   7 citations · 2010
8. 8
   Swing-up control for n-link planar robot with single passive joint using the notion of virtual composite links

   7 citations · 2008
9. 9
   Energy based Swing-up Control for a 3-Link Robot with Passive Last Joint: Design and Analysis

   5 citations · 2006
10. 10
    Nonlinear Swing down Control of the Acrobot

    4 citations · 2020

Key Collaborators

Contact & Links