Papers
11
Total Citations
209
H-Index
8
About
Akihiro Ohta is a pioneering roboticist whose work has focused on bipedal locomotion, human-carrying robots, and adaptive walking control. His major contributions center on developing biped robots capable of navigating real-world, uneven terrains—including stairs, public roads, and gravel paths—while safely transporting a human rider. Ohta’s most influential work, "Walking up and down stairs carrying a human by a biped locomotor with parallel mechanism" (79 citations), introduced a tuning method for walking parameters using Stewart platform leg mechanisms, significantly reducing actuator stroke range. He further advanced the field with a landing pattern modification method using nonlinear compliance control (31 citations), enabling stable walking despite modeling errors. Ohta also designed a novel foot system adaptable to convex and concave surfaces (21 citations), solving the four-point contact problem on uneven ground. His research culminated in the WL-16RII, a prototype biped walking wheelchair, demonstrating practical human-carrying mobility outdoors. With over 200 total citations across his top papers, Ohta’s work has laid critical groundwork for assistive walking robots, bridging the gap between laboratory control algorithms and real-world deployment.
Research Focus
Key Achievements
Top Papers
- 1
- 2Biped landing pattern modification method with nonlinear compliance control31 citations · 2006
- 3New Foot System Adaptable to Convex and Concave Surface21 citations · 2007
- 4
- 5
- 6Unknown disturbance compensation control for a biped walking vehicle11 citations · 2007
- 7
- 8
- 9
- 10WL-16RII: Prototype of Biped Walking Wheelchair5 citations · 2008