T. Nagasaki

About

T. Nagasaki is a pioneering researcher in humanoid robotics, whose work has fundamentally advanced the ability of bipedal robots to achieve dynamic locomotion, particularly running. His primary research areas include bipedal running control, pattern generation, and whole-body momentum management. Nagasaki’s most significant contribution is the development of a running controller for the HRP-2LR humanoid, which successfully stabilized the robot during flight phases—a critical challenge in dynamic locomotion. His 2006 paper on the running controller has garnered 126 citations, while his 2007 work on ZMP-based biped running control, with 118 citations, demonstrated the first practical implementation of a running humanoid achieving an average speed of 0.16 m/s. His earlier foundational work, including a 2004 study on hopping as a precursor to running (94 citations), and a 2003 paper on pattern generation using inverted pendulum dynamics (57 citations), established the theoretical framework for generating stable, repeatable running motions. Nagasaki’s research has been instrumental in bridging the gap between static walking and dynamic running, making him a key figure in the evolution of agile humanoid robots.

Research Focus

Key Achievements

Top Papers

1. 1
   A Running Controller of Humanoid Biped HRP-2LR

   126 citations · 2006
2. 2
   ZMP-Based Biped Running Control

   118 citations · 2007
3. 3
   A hop towards running humanoid biped

   94 citations · 2004
4. 4
   Running pattern generation for a humanoid robot

   57 citations · 2003
5. 5
   A running experiment of humanoid biped

   46 citations · 2005
6. 6
   Running pattern generation and its evaluation using a realistic humanoid model

   32 citations · 2004
7. 7
   Running Pattern Generation for a Humanoid Robot

   11 citations · 2003
8. 8
   Running Pattern Generation for a Humanoid Robot : Calculation of Joint Specifications

   2 citations · 2002

Key Collaborators

Contact & Links