Kazuhito Yokoi
National Institute of Advanced Industrial Science and Technology, Tokyo University of Science, Stanford University, University of Tsukuba, Robotics Research (United States), Centre National de la Recherche Scientifique, Cyberdyne (Japan), Systems Research Institute, Toyota Motor Corporation (Japan), Systems Biology Institute, Japan Science and Technology Agency, Université Libre de Bruxelles, Weatherford College
Papers
200
Total Citations
11,574
H-Index
48
About
Kazuhito Yokoi is a pioneering roboticist whose career has fundamentally shaped the field of humanoid and biped locomotion. His research centers on bipedal walking pattern generation, humanoid motion planning, and autonomous robot capabilities in human environments. Yokoi's most transformative contributions lie in the mathematical modeling of biped locomotion: his 2004 paper introducing preview control of the zero-moment point (ZMP) has accumulated over 2,000 citations and remains a cornerstone reference in the field, while his development of the 3D Linear Inverted Pendulum Mode (3D-LIPM) — with over 1,000 citations — provided roboticists with an elegantly simple yet powerful framework for stable walking control. His work on resolved momentum control further extended humanoid motion planning by leveraging linear and angular momentum, earning over 460 citations. Beyond locomotion theory, Yokoi has explored motion imitation from human dance capture, multi-robot cooperation, and real-time pattern generation. His 2014 textbook, *Introduction to Humanoid Robotics*, consolidates much of this expertise for the broader research community. Collectively, his publications have garnered thousands of citations, establishing him as one of the most influential figures in humanoid robotics research.
Research Focus
Key Achievements
Top Papers
- 1Biped walking pattern generation by using preview control of zero-moment point2,083 citations · 2004
- 2
- 3Planning walking patterns for a biped robot852 citations · 2001
- 4
- 5Biped walking stabilization based on linear inverted pendulum tracking433 citations · 2010
- 6Introduction to Humanoid Robotics393 citations · 2014
- 7A realtime pattern generator for biped walking305 citations · 2003
- 8
- 9Coordination and decentralized cooperation of multiple mobile manipulators201 citations · 1996
- 10Robots in Human Environments: Basic Autonomous Capabilities189 citations · 1999