Mitsuharu Moriswa

Papers

Total Citations

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About

Mitsuharu Morisawa is a leading researcher in humanoid robotics, specializing in bipedal locomotion, whole-body control, and real-time motion generation. His major contributions center on enhancing the stability and agility of humanoid robots through advanced control strategies, including vibration suppression and dynamic balancing. One of his most cited works, "Vertical vibration suppression for a position controlled biped robot" (2013, 17 citations), presents a controller design that effectively mitigates structural vibrations during walking by modeling frequency responses and implementing an optimal feedback controller with a full-state observer. This work has been instrumental in improving the robustness of position-controlled bipeds. Morisawa's broader impact is reflected in his extensive publication record, with numerous papers on walking pattern generation, push recovery, and multi-contact motion planning, collectively garnering hundreds of citations. His research has directly influenced the development of humanoid platforms like HRP-2 and HRP-4, and he is recognized for bridging theoretical control methods with practical, real-time implementation in complex robotic systems.