Yukio Tominaga

Papers

Total Citations

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About

Yukio Tominaga has made foundational contributions to mobile robotics, particularly in the design and control of omnidirectional holonomic platforms. His most-cited work, "Omnidirectional holonomic mobile robot using nonholonomic wheels" (2002, 15 citations), introduced a novel approach that leverages nonholonomic wheels with an offset between the driving wheel axis and the steering axis. This clever mechanical configuration enables a robot to achieve full omnidirectional motion while using conventional nonholonomic wheels—a significant departure from earlier designs that required specialized omnidirectional wheels. Tominaga’s insight demonstrated that nonholonomic constraints could be exploited rather than circumvented, offering a simpler and more robust solution for agile mobile robots. His work has influenced subsequent research in wheeled robot kinematics and control, particularly in applications requiring precise maneuverability in confined spaces. Though his citation count is modest, the conceptual elegance and practical relevance of his design have made it a reference point in robotics literature. Tominaga’s contributions underscore how thoughtful mechanical design can expand the capabilities of autonomous systems.