Yuki Yokokura
Papers
37
Total Citations
322
H-Index
9
About
Yuki Yokokura is a prominent robotics and motion control researcher whose work centers on advanced control strategies for industrial robots and human-robot interaction systems. His research expertise spans disturbance observer design, force control, bilateral teleoperation, and drivability optimization for robotic manipulators. Yokokura's most impactful contribution lies in advancing disturbance observer (DOB) methodologies, particularly his integration of DOB with Kalman filtering for robust motion control realization (43 citations), which has become a widely referenced framework in the field. His development of notch-type friction-free disturbance observers enabled high-precision force sensorless control — eliminating costly dedicated sensors while maintaining fine force regulation. Complementing this, his spring ratio-based force control method (33 citations) addressed the longstanding challenge of stable contact motion in industrial settings. A recurring theme in his research is enabling intuitive human-robot interaction; his work on back-forward drivability and torsion torque control (32 citations) advances smooth, safe physical collaboration between humans and robotic systems. His early bilateral teleoperation research further demonstrates a long-standing interest in haptic communication technologies. With a growing citation record across motion control, sensorless force estimation, and contact detection, Yokokura's contributions meaningfully bridge theoretical control design and real-world industrial robotics applications.
Research Focus
Key Achievements
Top Papers
- 1Disturbance Observer and Kalman Filter Based Motion Control Realization43 citations · 2017
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