Yoshikazu Kanamiya
Tokyo Denki University, Musashi University, Tokyo City University
Papers
6
Total Citations
63
H-Index
4
About
Yoshikazu Kanamiya’s research lies at the intersection of humanoid robotics, balance control, and real-time simulation. His most influential work, “Ankle and hip balance control strategies with transitions” (36 citations), introduced a novel method for continuously evaluating disturbance forces by analyzing the difference between the Zero Moment Point (ZMP) and the center of mass projection—enabling human-like balance transitions. Kanamiya also tackled the challenge of walking control near singular configurations, proposing a Spherical Inverted Pendulum model with an underfloor pivot to allow humanoid robots to walk with extended knees, a posture critical for efficiency but traditionally problematic. His work on inertia-coupling balance control addressed the difficult problem of maintaining stability on unstable ground, where conventional ZMP-based methods fail. Beyond theoretical contributions, Kanamiya advanced open-source robotics platforms, developing an integrated environment for kinematic modeling, simulation, and real-time control based on MaTX and Linux. His Hardware-In-the-Loop Simulator for robots with flexible joints further bridged simulation and physical implementation. With a career spanning foundational balance strategies to practical simulation tools, Kanamiya’s research continues to inform the design of more agile, stable, and adaptable humanoid robots.
Research Focus
Key Achievements
Top Papers
- 1Ankle and hip balance control strategies with transitions36 citations · 2010
- 2
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- 5Natural self motion of a robotic limb with single degree-of-redundancy2 citations · 2009
- 6