Takeshi Itoh

Chiba University, Advanced Telecommunications Research Institute International, Nara Institute of Science and Technology

Papers

Total Citations

134

H-Index

About

Dr. Takeshi Itoh is a pioneering roboticist whose research focuses on the control of nonholonomic and legged systems, with key contributions in path tracking, full-body optimal control, and contact-rich manipulation. His early work on path tracking control for trailer-like mobile robots (93 citations) established a foundational framework for stable backward navigation, enabling robust autonomous operation in constrained environments. More recently, Dr. Itoh has advanced humanoid robotics through a full-body optimal control framework (39 citations) that integrates whole-body dynamics into model predictive control, enabling versatile and agile behaviors such as dynamic locomotion and manipulation. His latest research addresses the critical challenge of real-time contact modeling, introducing an implicit contact dynamics approach with explicit inertia matrix representation (2 citations) that allows model-based controllers to handle physical interactions with high sampling efficiency—a breakthrough for precise manipulation tasks. Dr. Itoh’s work bridges theoretical control theory and practical deployment, with his algorithms directly impacting autonomous vehicles and humanoid robots. His trajectory from trailer-like robots to full-body humanoid control exemplifies a career dedicated to solving the fundamental control problems that enable robots to navigate and interact with the physical world safely and efficiently.