Hiroki Nakai

Papers

Total Citations

121

H-Index

About

Hiroki Nakai is a pioneering researcher in humanoid robotics, whose work has fundamentally advanced how robots perceive, plan, and interact with dynamic environments. His primary research areas include environment manipulation planning, metamorphic robot design, and integrated system software for humanoid platforms. Nakai’s most influential contribution is the development of a task graph-based planner that enables humanoid robots to navigate environments with movable objects—a significant leap beyond traditional motion planners limited to fixed obstacles. This work, cited 51 times, laid the groundwork for more adaptive and autonomous robotic behavior. He also introduced the concept of a “metamorphic robot” using low melting point alloys, allowing robots to change body rigidity and shape to suit their surroundings, a novel approach that has garnered 36 citations. Additionally, Nakai co-developed the integrated system software for the HRP2 humanoid, cited 31 times, which enabled researchers across diverse fields to use humanoids as accessible research tools. His work on whole-body motion generation using RRT-Connect planners further demonstrates his commitment to solving complex, multi-constraint planning problems. Through these contributions, Nakai has helped shape the future of humanoid robotics, making robots more capable, flexible, and useful in real-world environments.