H
Hirohisa Hirukawa
Researcher at National Institute of Advanced Industrial Science and Technology
Publications - 151
Citations - 11108
Hirohisa Hirukawa is an academic researcher from National Institute of Advanced Industrial Science and Technology. The author has contributed to research in topics: Humanoid robot & Mobile robot. The author has an hindex of 48, co-authored 151 publications receiving 10522 citations. Previous affiliations of Hirohisa Hirukawa include Stanford University & Kobe University.
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Proceedings ArticleDOI
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kiyoshi Fujiwara,Kensuke Harada,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
TL;DR: A new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP) is introduced and a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model.
Proceedings ArticleDOI
The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
TL;DR: Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed, and a simulation result of a walking control using a 12-DOF biped robot model is shown.
Proceedings ArticleDOI
Humanoid robot HRP-2
Kenji Kaneko,Fumio Kanehiro,Shuuji Kajita,Hirohisa Hirukawa,Toshikazu Kawasaki,Masaru Hirata,Kazuhiko Akachi,Takakatsu Isozumi +7 more
TL;DR: The development of humanoid robot HRP-3 is presented and it is shown that its main mechanical and structural components are designed to prevent the penetration of dust or spray and its wrist and hand are newly designed to improve manipulation.
Proceedings ArticleDOI
Resolved momentum control: humanoid motion planning based on the linear and angular momentum
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kiyoshi Fujiwara,Kensuke Harada,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
TL;DR: A method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values gives a unified framework to generate various maneuvers of humanoid robots.
Proceedings ArticleDOI
A realtime pattern generator for biped walking
TL;DR: Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented, and the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane are analyzed.