Kiyoshi Fujiwara

About

Kiyoshi Fujiwara is a pioneering robotics researcher whose work has fundamentally shaped the field of humanoid and biped locomotion. His research centers on walking pattern generation, whole-body motion control, and stability analysis for legged robots — areas in which he has produced some of the most influential contributions in modern robotics. Fujiwara's most celebrated work, "Biped walking pattern generation by using preview control of zero-moment point" (2004), has accumulated over 2,000 citations and remains a cornerstone reference for researchers designing stable walking gaits. His development of the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM), introduced across multiple highly cited papers from 2003, provided the field with an elegant and computationally tractable framework for real-time walking control. His resolved momentum control method further expanded humanoid capability by enabling full-body motion planning grounded in linear and angular momentum principles. Beyond locomotion, Fujiwara tackled practical challenges including fall damage mitigation through his UKEMI framework, heavy object manipulation under uncertainty, and universal foot-contact stability criteria. His contributions to the Humanoid Robotics Platform (HRP) and OpenHRP further demonstrate his commitment to open, reproducible research infrastructure. With a cumulative citation count exceeding 3,800, his work continues to serve as essential reading for students and researchers advancing humanoid robotics.

Research Focus

Key Achievements

Top Papers

1. 1
   Biped walking pattern generation by using preview control of zero-moment point

   2,083 citations · 2004
2. 2
   Resolved momentum control: humanoid motion planning based on the linear and angular momentum

   463 citations · 2004
3. 3
   A realtime pattern generator for biped walking

   305 citations · 2003
4. 4
   A universal stability criterion of the foot contact of legged robots - adios ZMP

   188 citations · 2006
5. 5
   Biped Walking Pattern Generator allowing Auxiliary ZMP Control

   178 citations · 2006
6. 6
   Biped walking pattern generation by a simple three-dimensional inverted pendulum model

   176 citations · 2003
7. 7
   Humanoid robotics platforms developed in HRP

   138 citations · 2004
8. 8
   A Humanoid Robot Carrying a Heavy Object

   115 citations · 2006
9. 9
   UKEMI: falling motion control to minimize damage to biped humanoid robot

   115 citations · 2003
10. 10
    Open architecture humanoid robotics platform

    97 citations · 2003

Key Collaborators

Contact & Links