Takumi Kamioka
Papers
10
Total Citations
130
H-Index
5
About
Takumi Kamioka is a robotics researcher whose work sits at the intersection of humanoid locomotion, biped control, and dynamic motion planning. His research is primarily focused on enabling robots to move with the fluidity and adaptability of biological systems, with particular emphasis on model-based approaches grounded in reduced-order dynamics such as the Spring-Loaded Inverted Pendulum and centroidal dynamics frameworks. Kamioka's most influential contribution is his comprehensive survey on model-based biped motion control (2020, 42 citations), which has become a key reference for researchers entering the field. Equally notable is his pioneering work on dynamic gait transitions — demonstrating for the first time that humanoid robots could fluidly shift between walking, running, and hopping as a push-recovery strategy (2017, 33 citations), a capability previously unrealized in robotics. His 2015 work on bipedal-to-quadrupedal locomotion transitions (28 citations) further expanded the functional range of humanoid platforms for disaster-response scenarios. More recently, Kamioka has explored hardware design through compliant leg mechanisms and variable stiffness actuators, alongside intermittent control strategies that exploit passive robot dynamics for energy efficiency. Across his body of work, he has accumulated over 130 citations, establishing himself as a meaningful contributor to the advancement of robust, agile humanoid locomotion.
Research Focus
Key Achievements
Top Papers
- 1Survey on model-based biped motion control for humanoid robots42 citations · 2020
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- 3Dynamic gait transition between bipedal and quadrupedal locomotion28 citations · 2015
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- 5Development and Analysis of a Biped Robot with Prismatic Compliance7 citations · 2022
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