Fumio Kanehiro
National Institute of Advanced Industrial Science and Technology, Japan Science and Technology Agency, Systems Research Institute, The University of Tokyo, Ibaraki National College of Technology, University of Tsukuba, Institute of Science and Technology, Intelligent Systems Research (United States), Robotics Research (United States), Defense Advanced Research Projects Agency, Hodogaya Chemical (Japan)
Papers
207
Total Citations
13,248
H-Index
55
About
Fumio Kanehiro is a pioneering robotics researcher whose work has fundamentally shaped the field of humanoid robot locomotion and platform development. His research focuses on biped walking pattern generation, whole-body motion control, and the design of humanoid robotics systems — areas in which he has made internationally recognized contributions. Kanehiro's most influential work introduced preview control of the zero-moment point (ZMP) for biped walking pattern generation, a landmark 2004 paper that has garnered over 2,000 citations and remains a cornerstone reference in legged robotics. Closely related is his development of the 3D Linear Inverted Pendulum Mode (3D-LIPM), a elegantly simple yet powerful modeling framework cited over 1,000 times that continues to underpin modern walking controllers worldwide. Beyond locomotion theory, Kanehiro played a central role in developing Japan's HRP humanoid robot series — including HRP-2 and HRP-3 — as part of a major national initiative by Japan's Ministry of Economy, Trade and Industry. He also contributed the OpenHRP simulation platform and resolved momentum control methods for whole-body motion planning. With a cumulative citation count exceeding 6,000, his body of work represents some of the most impactful engineering research in humanoid robotics of the past two decades.
Research Focus
Key Achievements
Top Papers
- 1Biped walking pattern generation by using preview control of zero-moment point2,083 citations · 2004
- 2
- 3Humanoid robot HRP-2750 citations · 2004
- 4
- 5Biped walking stabilization based on linear inverted pendulum tracking433 citations · 2010
- 6Design of prototype humanoid robotics platform for HRP312 citations · 2003
- 7A realtime pattern generator for biped walking305 citations · 2003
- 8Humanoid robot HRP-3294 citations · 2008
- 9OpenHRP: Open Architecture Humanoid Robotics Platform246 citations · 2007
- 10OpenHRP: Open Architecture Humanoid Robotics Platform238 citations · 2004