Papers
32
Total Citations
1,732
H-Index
23
About
Keiji Nishiwaki is a pioneering roboticist whose work has fundamentally shaped how humanoid robots move, plan, and interact with the world. His research centers on bipedal locomotion, footstep planning, and the integration of perception with action for humanoid platforms. Nishiwaki’s most celebrated contribution is the development of online, real-time footstep planning algorithms that allow biped robots to navigate obstacle-cluttered environments by dynamically computing stable, collision-free sequences of steps—a breakthrough detailed in his highly cited 2002 paper (192 citations). He also led the design of the influential H6 and H7 humanoid robots, which served as open research platforms for studying perception-action coupling. His work on incorporating toe joints (125 citations) expanded the range of humanoid motions, enabling faster walking and stair climbing. With over 1,100 total citations across his top papers, Nishiwaki’s innovations in preview control of ZMP and short-cycle pattern generation have become foundational for modern humanoid control systems, directly enabling robots to maintain balance while adapting to changing commands in real time.
Research Focus
Key Achievements
Top Papers
- 1Footstep planning among obstacles for biped robots192 citations · 2002
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- 3Toe joints that enhance bipedal and fullbody motion of humanoid robots125 citations · 2003
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- 5Online footstep planning for humanoid robots101 citations · 2004
- 6High frequency walking pattern generation based on preview control of ZMP95 citations · 2006
- 7Self-collision detection and prevention for humanoid robots95 citations · 2003
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