Kenta Sasahara

Papers

Total Citations

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About

Kenta Sasahara is a robotics researcher whose work centers on bipedal locomotion and stable landing control for legged robots. His primary research areas include switching control methods, force control, and zero moment point (ZMP)-based stabilization, all applied to the challenge of enabling biped robots to transition smoothly and reliably from aerial phases to ground contact. Sasahara’s major contribution is the development of a switching control framework that prevents undesirable foot-ground interactions—such as hunting or instability during landing—by seamlessly transitioning from edge contact to full sole support. This approach directly addresses a critical failure mode in bipedal walking, where unstable landings can cause the robot to fall. His most-cited paper, "Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point" (2013, 5 citations), and a related 2012 work (2 citations) form the foundation of this methodology. While his citation counts are modest, these papers represent focused, foundational contributions to the practical control of biped robots, offering a clear solution to a persistent problem in legged locomotion. Sasahara’s work is particularly valuable for researchers and students interested in real-time control strategies for humanoid robots.