Youhei Kakiuchi
Papers
5
Total Citations
41
H-Index
4
About
Youhei Kakiuchi is a leading researcher in humanoid robotics, with a primary focus on full-body motion control, physical human-robot interaction, and perception-driven manipulation. His major contributions center on enabling humanoid robots to safely and effectively interact with unknown environments and heavy objects. Notably, his 2010 work (18 citations) introduced a method for manipulating objects of unknown weight by estimating operational force online, a critical advance for real-world assistive robotics. He extended this to wheelchair support tasks (2011, 7 citations), developing a full-body controller that integrates force error detection to adapt pushing strategies. Kakiuchi also pioneered the Perception-during-Traversing Model (2017, 7 citations), a framework that unifies environmental recognition and motion planning for continuous task execution during locomotion. His work on the musculoskeletal humanoid Kenshiro introduced the "Muscle ZMP" concept for spine balancing (2017, 5 citations), and he has explored dexterous manipulation in unstructured tasks like clothes unfolding using color range sensors (2010, 4 citations). Through these contributions, Kakiuchi has advanced the frontier of humanoid robots capable of safe, adaptive physical assistance in human environments.
Research Focus
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Top Papers
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