Takayuki Ikeda

About

Takayuki Ikeda is a robotics and control systems researcher whose work spans nonholonomic systems, multi-robot coordination, and biomechanically inspired locomotion. His most significant contributions lie in developing sophisticated control frameworks for robots operating under nonholonomic constraints — systems where motion is restricted by conditions such as pure rolling and nonslipping, common in wheeled and aquatic robots. Ikeda's most cited work focuses on formation control of multiple nonholonomic mobile robots, addressing the complex challenge of coordinating follower robots relative to a reference unit using Lyapunov-based feedback methods. This line of research has accumulated over 30 citations across related publications. He also made notable advances in fish robot tracking control, applying chained-form nonlinear techniques to achieve asymptotic trajectory convergence. A distinctive hallmark of Ikeda's research is his development of **Variable Constraint Control (VCC)**, an innovative method leveraging first integrals as invariant manifolds to govern underactuated free-flying and running robots. He applied this framework to quadruped locomotion inspired by kangaroo biomechanics, bridging biological motion analysis and robotic implementation. His work on three-dimensional legged running robots further demonstrates his commitment to translating theoretical control design into physical systems, making meaningful contributions to both mobile robotics and dynamic locomotion research.

Research Focus

Key Achievements

Top Papers

1. 1
   Formation control of multiple nonholonomic mobile robots

   21 citations · 2006
2. 2
   Analysis and design of running robots in touchdown phase

   21 citations · 2003
3. 3
   Nonholonomic Variable Constraint Control of Free Flying Robots and Its Convergence.

   13 citations · 2000
4. 4
   Nonlinear tracking control of a nonholonomic fish robot in chained form

   11 citations · 2003
5. 5
   Formation Control of Multiple Nonholonomic Mobile Robots

   9 citations · 2004
6. 6
   Variable constraint control of underactuated free flying robots-mechanical design and convergence

   9 citations · 1999
7. 7
   Running Control for 3D Leg Robot Using Variable Constraint Control.

   4 citations · 2003
8. 8
   A Fuzzy Controller Design Method For A Robot Gripper

   2 citations · 2005
9. 9
   Realization of Dynamic Walking and Running of a Cat Type Quadruped Robot Using Variable Constraint Control

   2 citations · 2003

Key Collaborators

Contact & Links