S
Shuuji Kajita
Researcher at National Institute of Advanced Industrial Science and Technology
Publications - 189
Citations - 16041
Shuuji Kajita is an academic researcher from National Institute of Advanced Industrial Science and Technology. The author has contributed to research in topics: Humanoid robot & Robot control. The author has an hindex of 62, co-authored 188 publications receiving 15163 citations. Previous affiliations of Shuuji Kajita include Japanese Ministry of International Trade and Industry & Ministry of Economy, Trade and Industry.
Papers
More filters
Proceedings ArticleDOI
Study of dynamic biped locomotion on rugged terrain-derivation and application of the linear inverted pendulum mode
Shuuji Kajita,K. Tani +1 more
TL;DR: Under the control method in the linear inverted pendulum mode, walking on a particular rugged ground is shown to be equivalent to Walking on a level ground, and it is shown that the additional use of the ankle torque makes the proposed control scheme robust and applicable to a real biped robot with mass legs.
Proceedings ArticleDOI
Biped walking stabilization based on linear inverted pendulum tracking
Shuuji Kajita,Mitsuharu Morisawa,Kanako Miura,Shin'ichiro Nakaoka,Kensuke Harada,Kenji Kaneko,Fumio Kanehiro,Kazuhito Yokoi +7 more
TL;DR: A novel framework of biped walking stabilization control is introduced and a body posture controller and foot force controllers on the joint position servo of the robot are developed.
Journal ArticleDOI
Dynamic walking control of a biped robot along a potential energy conserving orbit
TL;DR: To reduce the complex walking dynamics of a biped, a particular class of trajectories of an ideal biped model where thecenter of gravity of the body moves horizontally and the horizontal motion of the center of gravity can be expressed by a simple linear differential equation is introduced.
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.
Proceedings ArticleDOI
Design of prototype humanoid robotics platform for HRP
Kenji Kaneko,Fumio Kanehiro,Shuuji Kajita,K. Yokoyama,Kazuhiko Akachi,Toshikazu Kawasaki,S. Ota,Takakatsu Isozumi +7 more
TL;DR: The ability of the biped locomotion of HRP-2 is improved so that HRp-2 can cope with rough terrain in the open air and can prevent the possible damages to a humanoid robot's own self in the event of tipping over.