S. Kagami

About

S. Kagami is a pioneering robotics researcher whose work has fundamentally shaped the field of humanoid robot locomotion, perception, and whole-body control. Operating primarily in the early-to-mid 2000s, Kagami made seminal contributions to bipedal navigation, developing footstep planning algorithms that enabled humanoid robots to safely traverse obstacle-cluttered environments using dynamic programming approaches — work that has garnered nearly 200 citations. His involvement in designing the H6 humanoid robot platform provided the broader research community with a vital testbed for perception-action integration, accumulating nearly 190 citations. Kagami's innovations extended to tactile sensing, producing a full-body conductive fabric sensor suit (137 citations), and real-time 3D plane detection for environmental awareness (134 citations). His mechanical ingenuity is evident in his exploration of toe joints for enhanced bipedal mobility (125 citations), while his motion planning and self-collision avoidance frameworks addressed critical safety challenges in online robot control. His later work on high-frequency walking pattern generation and online walking control systems further cemented his legacy, demonstrating a sustained commitment to making humanoid robots faster, safer, and more adaptive in real-world environments.

Research Focus

Key Achievements

Top Papers

1. 1
   Footstep planning among obstacles for biped robots

   192 citations · 2002
2. 2
   Design and development of research platform for perception-action integration in humanoid robot: H6

   189 citations · 2002
3. 3
   A full-body tactile sensor suit using electrically conductive fabric and strings

   137 citations · 2002
4. 4
   Plane segment finder: algorithm, implementation and applications

   134 citations · 2002
5. 5
   Toe joints that enhance bipedal and fullbody motion of humanoid robots

   125 citations · 2003
6. 6
   Motion planning for humanoid robots under obstacle and dynamic balance constraints

   125 citations · 2002
7. 7
   Online footstep planning for humanoid robots

   101 citations · 2004
8. 8
   High frequency walking pattern generation based on preview control of ZMP

   95 citations · 2006
9. 9
   Self-collision detection and prevention for humanoid robots

   95 citations · 2003
10. 10
    Online Walking Control System for Humanoids with Short Cycle Pattern Generation

    79 citations · 2009

Key Collaborators

Contact & Links