Papers
131
Total Citations
3,136
H-Index
30
About
Gen Endo is a pioneering robotics researcher whose work spans biped locomotion, humanoid robot control, and multi-modal mobile robotics. Best known for his foundational contributions to biologically inspired walking controllers, Endo has significantly advanced the application of Central Pattern Generators (CPGs) to real-world humanoid systems — a challenge few researchers had tackled on physical 3D hardware before his landmark experiments with Sony's QRIO robot. His most influential work, "Learning from Demonstration and Adaptation of Biped Locomotion" (2004, 400 citations), established key frameworks for teaching robots to walk through imitation and adaptive learning. Complementing this, his research on policy gradient methods for CPG-based locomotion (211 citations) developed efficient, generalizable learning algorithms that moved humanoid walking beyond rigid zero-moment-point control toward more robust, human-like strategies. Beyond bipeds, Endo made notable contributions to quadruped robotics, including the energy-efficient TITAN-XIII sprawling robot (97 citations), and pioneered the innovative "Roller-Walker" leg-wheel hybrid platform, demonstrating versatility across locomotion paradigms. With over 1,300 citations across his top works, Endo's research has meaningfully shaped modern understanding of adaptive, biologically inspired robot locomotion — making his papers essential reading for anyone entering legged robotics.
Research Focus
Key Achievements
Top Papers
- 1Learning from demonstration and adaptation of biped locomotion400 citations · 2004
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- 3Experimental Studies of a Neural Oscillator for Biped Locomotion with QRIO124 citations · 2006
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- 5An empirical exploration of a neural oscillator for biped locomotion control106 citations · 2004
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- 9Quadruped walking robots at Tokyo Institute of Technology79 citations · 2009
- 10Study on Roller-Walker (system integration and basic experiments)73 citations · 2003