Y. Okumura
Papers
1
Total Citations
36
H-Index
1
About
Y. Okumura is a pioneering researcher in bipedal robotics, with a primary focus on real-time locomotion stabilization and humanoid robot control. His most influential work, "Realtime ZMP Compensation for Biped Walking Robot Using Adaptive Inertia Force Control" (2004), introduced a groundbreaking method for stabilizing biped locomotion by defining a ZMP (Zero Moment Point) stability index and compensating for it in real-time through adaptive inertia force control. This contribution has garnered 36 citations and remains a foundational reference for researchers developing practical, stable walking robots. Okumura’s work directly addresses the critical challenge of maintaining balance during dynamic motion, enabling more robust and adaptive bipedal systems. His research has significantly advanced the field of humanoid robotics, influencing subsequent studies on gait generation and disturbance rejection. By bridging theoretical stability criteria with real-time control implementation, Okumura has helped pave the way for more reliable and practical biped robots, making his contributions essential reading for students and engineers working on legged locomotion.
Research Focus
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Top Papers
- 1