Tomohiro Chaki

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About

Tomohiro Chaki is a leading researcher in legged locomotion, humanoid robotics, and telepresence avatar systems, whose work bridges theoretical control with real-world assistive applications. His most impactful contribution is the development of adaptive non-linear centroidal model predictive control (MPC) with formal stability guarantees, a framework that enables robust, step-adjusting locomotion for legged robots in the face of disturbances—a paper that has already garnered 12 citations since its 2025 publication. Chaki has also pioneered human-robot interaction for mobility assistance, notably designing control strategies for humanoid robots to support sit-to-stand-to-sit transitions, addressing the complex challenge of determining optimal force application during dynamic human motions. Further extending his reach, he has advanced remote telepresence by demonstrating how a unified avatar system architecture can be adapted across diverse robot morphologies—from wheeled platforms to legged robots—enabling effective operation over large distances. Through these contributions, Chaki is shaping the future of assistive and teleoperated robotics, with his work cited in contexts ranging from nonlinear control theory to practical healthcare and remote task execution.