Papers
7
Total Citations
407
H-Index
6
About
Muneharu Saigo is a robotics researcher whose work has made significant contributions to bipedal locomotion, humanoid robot control, and hybrid leg-wheeled robotic systems. His most influential contribution, the 2002 paper introducing Meltran V — a biped robot with telescopic legs — has accumulated 237 citations and remains a landmark study in real-time 3D walking pattern generation. By analyzing the dynamics of a three-dimensional inverted pendulum constrained to an arbitrarily defined plane, Saigo and his collaborators derived elegant linear dynamics that simplified walking control considerably, a methodological insight that resonated widely across the field. Saigo also advanced humanoid robot balance control, proposing a backdrive-concerned torque controller combined with direct angular momentum feedback for a 26-degree-of-freedom humanoid, earning 93 citations for that work. A persistent thread throughout his career is the development of biped-type leg-wheeled robots capable of dynamically negotiating staircases — a practical challenge he pursued across multiple publications spanning the late 1990s and early 2000s. His cumulative citation record reflects sustained relevance in mobile robotics and locomotion planning, making his work valuable reading for researchers exploring dynamic stability, hybrid robot design, and humanoid motion control.
Research Focus
Key Achievements
Top Papers
- 1Real-time 3D walking pattern generation for a biped robot with telescopic legs237 citations · 2002
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- 4Biped-type leg-wheeled robot19 citations · 1998
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- 7Biped-type leg-wheeled robot4 citations · 1999