Koichi Nshiwaki

National Institute of Advanced Industrial Science and Technology

Papers

Total Citations

153

H-Index

About

Koichi Nishiwaki is a leading figure in humanoid robotics, renowned for his foundational work in bipedal locomotion and real-time walking pattern generation. His research centers on enabling legged robots to navigate dynamic, unpredictable environments with human-like agility and robustness. Nishiwaki’s major contributions lie in developing online control frameworks that allow robots to recover from pushes and instantly adapt their direction and speed—critical for real-world deployment. His most influential paper, "Online decision of foot placement using singular LQ preview regulation" (2011, 104 citations), introduced a method for robots to autonomously decide where to step under unknown external forces, combining fast trajectory generation with optimal foot placement. This work has become a cornerstone for push recovery in humanoid robots. Complementing this, his 2012 paper (49 citations) addressed the challenge of minimizing delay when changing walking direction and speed, overcoming the limitations of traditional Zero Moment Point (ZMP) methods. Nishiwaki’s achievements have profoundly shaped the field, providing the theoretical and algorithmic backbone for stable, responsive locomotion in countless subsequent humanoid platforms.