Papers
20
Total Citations
279
H-Index
11
About
Masahiro Doi is a robotics and control systems researcher whose work spans biomimetic locomotion, bipedal walking, and advanced control theory. He is perhaps best known for his pioneering contributions to brachiation robotics — the study of swing-based, arm-over-arm locomotion inspired by primates. His landmark papers on continuous brachiation control, including energy-based swing-back methods, have collectively garnered over 100 citations, establishing foundational techniques for smooth, stable multi-bar traversal in robotic systems. Doi's energy-based control frameworks demonstrated how robots could efficiently exchange kinetic and potential energy in pendulum-like motion, significantly advancing the practical realization of dynamic robotic locomotion. Equally notable is his development of Passive Dynamic Autonomous Control (PDAC), an elegant approach to bipedal walking that exploits a robot's inherent natural dynamics rather than relying on computationally expensive, fully actuated control schemes. Extended to 3D walking via inverted pendulum modeling, this work influenced how researchers think about underactuated locomotion systems. More recently, Doi has contributed to nonlinear model predictive control for switched systems, broadening his impact into applied control theory. Across more than a decade of research, his interdisciplinary work bridges robotics, dynamics, and optimization, making him a valuable reference for students exploring bio-inspired robot control and autonomous locomotion.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3Passive dynamic autonomous control of bipedal walking33 citations · 2005
- 4Multi-Locomotion Control of Biped Locomotion and Brachiation Robot22 citations · 2007
- 5
- 6Energy Based Swing Control of a Brachiating Robot18 citations · 2006
- 7
- 8Passive trajectory control of the lateral motion in bipedal walking18 citations · 2004
- 9
- 10Passive dynamic autonomous control of bipedal walking14 citations · 2005