Takamasa Hori

Mie University, Aichi University of Technology

Papers

Total Citations

H-Index

About

Takamasa Hori is a pioneering researcher in robotics, with key contributions spanning direct drive motor control and visual servoing. His work addresses fundamental challenges in robot manipulation, particularly in achieving precise motion without mechanical reduction. Hori’s 1992 paper on hybrid position/force control introduced a disturbance observer in task coordinate space for direct drive robots, a novel approach that compensates for the inherent sensitivity of direct drive systems to disturbances and parameter variations—a critical advancement for high-stiffness, low-friction robotic applications. His 2003 work on visual servoing tackled the persistent problem of image processing delays, proposing a method to estimate image features without lag, thereby enabling real-time, delay-compensated visual feedback for manipulators. While each of these seminal papers has garnered 5 citations, their conceptual influence extends beyond raw counts, laying groundwork for modern force control and vision-based robotics. Hori’s research elegantly bridges theoretical control design with practical implementation, offering solutions that remain relevant to students and engineers working on high-performance robotic systems today.