Papers
144
Total Citations
2,423
H-Index
22
About
Hun-ok Lim is a pioneering robotics researcher whose career has been defined by the development of advanced humanoid and biped locomotion systems, with a particular focus on human-like walking mechanics, robot safety, and practical mobility platforms. Working primarily within Waseda University's renowned robotics tradition, Lim has made landmark contributions to the WABIAN and WL robot families — sophisticated humanoid systems that pushed the boundaries of biomechanically realistic movement. His 2006 paper introducing WABIAN-2, cited 369 times, remains one of the most influential works in humanoid robotics, presenting a robot capable of functioning as a genuine human motion simulator. Equally significant is his work on knee-stretched, heel-contact, and toe-off walking (196 citations), which brought robots measurably closer to natural human gait. Lim's research spans online walking pattern generation, multi-DOF leg architecture, parallel mechanism locomotors capable of carrying human passengers, and human-robot safety through passive viscoelastic design. With total citations exceeding 1,200 across his most recognized works, his contributions have profoundly shaped how engineers approach biped locomotion, assistive robotics, and the seamless integration of humanoid robots into everyday human environments.
Research Focus
Key Achievements
Top Papers
- 1Development of a new humanoid robot WABIAN-2369 citations · 2006
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- 3Online walking pattern generation for biped humanoid robot with trunk108 citations · 2003
- 4Biped walking robots created at Waseda University: WL and WABIAN family103 citations · 2006
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- 8Realization of dynamic human-carrying walking by a biped locomotor66 citations · 2004
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