Tatsuya Nunohara
Papers
2
Total Citations
11
H-Index
2
About
Tatsuya Nunohara is a pioneering figure in the field of space robotics, with a focused expertise in the dynamics and control of flexible manipulators for free-flying space platforms. His research addresses the critical challenge of controlling lightweight, flexible robotic arms in the microgravity environment, where traditional rigid-body assumptions fail. Nunohara’s major contribution is the development of the "virtual rigid manipulator" concept, a theoretical framework that allows for the application of standard control laws—such as PD-control and resolved motion rate control—to flexible systems by transforming their complex dynamics into a more tractable form. This work, detailed in his most-cited paper from 1993 (9 citations), laid the groundwork for practical control schemes like extended local PD-control (LPDC) and pseudo resolved acceleration control (RAC). He further validated these theories through hardware experiments in his 1994 study (2 citations), demonstrating real-world feasibility. While his citation counts are modest, Nunohara’s contributions are notable for their foundational role in enabling precise, continuous path tracking for flexible space manipulators—a key stepping stone for modern orbital servicing and debris removal missions.
Research Focus
Key Achievements
Top Papers
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- 2