Akihiro HAYASHI
Papers
8
Total Citations
83
H-Index
7
About
Akihiro Hayashi has dedicated his career to advancing bipedal locomotion, with a particular focus on enabling robots and vehicles to walk stably over uneven, real-world terrain. His research spans terrain-adaptive control, landing pattern modification, and disturbance compensation for biped walking vehicles. A central contribution is his development of a landing pattern modification method that allows biped robots to maintain stability on surfaces like gravel and pedestrian roads—a critical step beyond laboratory conditions. His work on a new foot system adaptable to convex and concave surfaces (21 citations) directly addresses the limitations of rigid, flat soles on uneven ground. Hayashi also pioneered control strategies for human-carrying biped vehicles, including a dynamic human model for generating walking patterns and methods to compensate for unknown external forces from a rider’s motion. His papers, such as those on landing impact force control and avoidance behavior from external forces, have collectively garnered over 80 citations, reflecting their influence on practical, outdoor bipedal walking. By tackling the challenges of modeling errors and real-world disturbances, Hayashi has made foundational contributions to the development of safe, passenger-carrying biped robots.
Research Focus
Key Achievements
Top Papers
- 1New Foot System Adaptable to Convex and Concave Surface21 citations · 2007
- 2
- 3Unknown disturbance compensation control for a biped walking vehicle11 citations · 2007
- 4Terrain-adaptive control with small landing impact force for biped vehicle10 citations · 2009
- 5
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- 7Avoidance behavior from external forces for biped vehicle7 citations · 2010
- 8