Yasuyuki FUNAHASHI

About

Yasuyuki Funahashi is a pioneering researcher in robotic manipulation, whose work fundamentally advances how multifingered hands grasp and manipulate multiple objects simultaneously. His core research areas include grasp stability analysis, contact condition identification, and precision tracking control for robotic systems. Funahashi's most significant contribution is developing quantitative frameworks for analyzing static grasp stability of multiple planar objects—a critical capability for efficient robotic task execution. His seminal 2009 paper on grasp stability analysis (8 citations) and his 2010 work on static stability of multiple-object grasps (7 citations) established foundational methods for evaluating how robotic fingers can securely hold several objects at once, moving beyond traditional single-object grasp research. Additionally, his 1992 work on generalizing the Zero Phase Error Tracking Controller (8 citations) addressed crucial challenges in high-speed, high-accuracy tracking control for robotic arms. Funahashi also made notable advances in active force sensing for parameter identification of contact conditions (1994, 6 citations; 2011, 5 citations), enabling robots to identify unknown contact positions, forces, and constraints during assembly tasks. His research spans from 2D to 3D grasp stability analysis, with over 46 total citations across his most influential works, demonstrating lasting impact on dexterous robotic manipulation.

Research Focus

Key Achievements

Top Papers

1. 1
   Grasp stability analysis of multiple planar objects

   8 citations · 2009
2. 2
   Generalization of Zero Phase Error Tracking Controller

   8 citations · 1992
3. 3
   STATIC STABILITY ANALYSIS OF GRASPING MULTIPLE OBJECTS IN 2D

   7 citations · 2010
4. 4
   Parameter Identification of Contact Conditions by Active Force Sensing.

   6 citations · 1994
5. 5
   Identification of Contact Conditions by Active Force Sensing - Estimated Parameter Uncertainty and Experimental Verification -

   5 citations · 2011
6. 6
   Grasp Stability Analysis of Two Objects in Two Dimensions

   3 citations · 2006
7. 7
   Stability Analysis of 3D Grasps by a Multifingered Robot Hand.

   3 citations · 2003
8. 8
   Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand

   2 citations · 1993
9. 9
   Parameter Identification of a Grasp by a Planar Two-Fingered Robot Hand.

   2 citations · 1992
10. 10
    Parameter Identification and Transition Detection of Contact Conditions of a Robot by Active Force Sensing

    2 citations · 2008

Key Collaborators

Contact & Links