K. Mitobe

About

K. Mitobe is a leading figure in the field of bipedal and humanoid robotics, with a career dedicated to solving the fundamental challenges of dynamic walking and stable locomotion. His primary research areas include Zero Moment Point (ZMP) control, gait optimization, and the application of nonlinear control theory to legged systems. Mitobe’s most influential contribution is his pioneering work on ZMP manipulation, where he treated the ZMP as an actuating signal to achieve smooth, real-time control of walking robots—a concept detailed in his highly cited 2000 paper (115 citations). He further advanced the field by integrating genetic algorithms for optimal trajectory generation (64 citations) and developing real-time gait generation methods for autonomous humanoids (59 citations). His innovative approach to angular momentum control (50 citations) and nonlinear feedback for biped walking (26 citations) has provided foundational tools for researchers. Later work expanded into multi-objective optimization for humanoid gait (17 citations) and multi-support phase control using locally defined ZMP (10 citations). Mitobe also demonstrated versatility with a low-cost, lightweight wire-driven robot arm (6 citations). With over 380 total citations, his research remains essential for students and engineers striving to create more agile, stable, and intelligent walking robots.

Research Focus

Key Achievements

Top Papers

1. 1
   Control of walking robots based on manipulation of the zero moment point

   115 citations · 2000
2. 2
   Optimal trajectory generation for a prismatic joint biped robot using genetic algorithms

   64 citations · 2002
3. 3
   Real time gait generation for autonomous humanoid robots: A case study for walking

   59 citations · 2003
4. 4
   A new control method for walking robots based on angular momentum

   50 citations · 2003
5. 5
   Control of a Biped Walking Robot during the Double Support Phase

   29 citations · 1997
6. 6
   Nonlinear feedback control of a biped walking robot

   26 citations · 2002
7. 7
   A New Humanoid Robot Gait Generation Based on Multiobjective Optimization

   17 citations · 2005
8. 8
   Control of legged robots during the multi support phase based on the locally defined ZMP

   10 citations · 2005
9. 9
   A low cost and lightweight wire driven robot arm by using elastic strings

   6 citations · 2014
10. 10
    A ZMP control of a powered passive dynamic walking robot

    5 citations · 2010

Key Collaborators

Contact & Links