Ippei Obayashi

RIKEN Center for Advanced Intelligence Project

Papers

Total Citations

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About

Ippei Obayashi is a researcher whose work lies at the intersection of nonlinear dynamics, biomechanics, and robotics, with a primary focus on passive dynamic walking. His major contributions center on unraveling the complex, fractal structure of the basin of attraction in passive dynamic walkers—models that walk down a slope with no control or input, offering a template for energy-efficient biped locomotion. In his most-cited work, "Fractal mechanism of basin of attraction in passive dynamic walking" (2020, 22 citations), Obayashi revealed how the basin’s intricate geometry governs stability and the emergence of chaotic attractors. He further explored this in "Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction" (2020, 3 citations), demonstrating how subtle deformations in the basin can suppress chaos. These insights are pivotal for designing more robust, low-energy biped robots and understanding human gait. Obayashi’s research bridges fundamental dynamics and practical engineering, offering a deeper grasp of how simple mechanical systems can achieve stable, efficient locomotion.