Takuya Shoji

Toyota Motor Corporation (Switzerland), Tokyo Institute of Technology

Papers

Total Citations

H-Index

About

Takuya Shoji’s research centers on the control of underactuated robotic systems, with a particular focus on replicating the dynamic, dexterous motions of the human upper limb. His key contributions lie in the innovative application of unstable zero dynamics to achieve controlled throwing motions in robots. In his seminal 2010 paper, Shoji introduced a control strategy for the “springed Pendubot”—an underactuated two-link planar robot—demonstrating how to harness its inherent instability to mimic the fluid, powerful throwing action of a human arm. This work was further refined in his 2012 follow-up, which detailed the precise motion control necessary for such dynamic tasks. Though his most-cited papers have accumulated a modest 19 and 18 citations respectively, their conceptual depth has established a foundational approach for researchers exploring bio-inspired, high-speed manipulation. Shoji’s work is notable for bridging theoretical nonlinear control with practical robotic design, offering a compelling framework for developing robots capable of agile, human-like movements. His investigations into the Pendubot remain a valuable reference for students and engineers seeking to understand the intersection of underactuation, stability, and dynamic performance in robotics.