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
Walking patterns and actuator specifications for a biped robot
Qiang Huang,Shuuji Kajita,Noriho Koyachi,Kenji Kaneko,K. Yokoi,Tetsuo Kotoku,Hirohiko Arai,Kiyoshi Komoriya,Kazuo Tanie +8 more
TL;DR: A method of generating a high stability, smooth walking pattern is presented, and it is shown how various walking patterns can be produced by setting a series of defined walking parameters.
Journal ArticleDOI
ZMP Analysis of a Humanoid Robot under Coordination of Arms and Legs
Kensuke Harada,Shuuji Kajita,Fumio Kanehiro,Kiyoshi Fujiwara,Kenji Kaneko,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
TL;DR: In this paper, the analysis of the ZMP of a humanoid robot under coordination of two arms and two legs is presented, and two kinds of ZMPs for such coordination tasks, i.e., the conventional ZMP considering all sources of the force/moment acting in the foot supporting area, and the generalized zero moment point (GZMP) which is a generalization of the traditional ZMP.
Book
Introduction à la commande des robots humanoïdes - De la modélisation à la génération du mouvement
TL;DR: In this article, a livre expose les toutes recentes avancees technologiques en matiere de robotique humanoide, expose les modeles et les techniques actuellement utilisees for generer un mouvement humanoIDE simple and propose des exemples de programmation en code Matlab® for realiser des mouvments de base (marche bipede, stabilisation, prehension d'un objet).
Proceedings ArticleDOI
Biped Gait Control Based on Spatially Quantized Dynamics
Shuuji Kajita,Mehdi Benallegue,Rafael Cisneros,Takeshi Sakaguchi,Shin'ichiro Nakaoka,Mitsuharu Morisawa,Hiroshi Kaminaga,Iori Kumagai,Kenji Kaneko,Fumio Kanehiro +9 more
TL;DR: A biped walking control based on the spatially quantized dynamics (SQD) which discretizes a continuous system by a constant unit length along the walk direction is realized.
Journal ArticleDOI
Motion Suspension System for Humanoids
Kenji Kaneko,Fumio Kanehiro,Mitsuharu Morisawa,Shuuji Kajita,Kiyoshi Fujiwara,Kensuke Harada,Hirohisa Hirukawa +6 more
TL;DR: This paper presents a motion suspension system to suspend humanoid motion in case of emergency, and proposes a simple and effective method of real-time pattern generation to force humanoids to stop immediately by one step without falling.