Papers
35
Total Citations
1,764
H-Index
16
About
Hirohiko Arai is a pioneering roboticist whose work has fundamentally shaped the fields of bipedal locomotion and human-robot collaboration. His seminal 2001 paper on planning walking patterns for biped robots, with over 850 citations, established foundational methods for stable gait generation on rough terrain and slopes, addressing the core challenge of balance in legged machines. Arai further advanced this domain through real-time balance control techniques that combine offline pattern planning with online modification, enabling robots to adapt dynamically to their environment. Beyond locomotion, he made significant contributions to human-robot cooperative manipulation, developing virtual nonholonomic constraints that allow a single robot to assist humans in handling unwieldy long objects—a concept detailed in multiple highly cited works. His creativity extends to dynamic manipulation, as demonstrated by his robotic implementation of the "butterfly" juggling trick, which explores the interplay of shape and motion. With a career spanning impedance control without force sensors and tele-existence master-slave systems, Arai’s research continues to inspire advances in assistive robotics and autonomous locomotion.
Research Focus
Key Achievements
Top Papers
- 1Planning walking patterns for a biped robot852 citations · 2001
- 2A high stability, smooth walking pattern for a biped robot172 citations · 2003
- 3Collision-Free Trajectory Planning for a 3-DoF Robot with a Passive Joint102 citations · 2000
- 4Human-robot cooperative manipulation using a virtual nonholonomic constraint93 citations · 2002
- 5
- 6Human-Robot Cooperative Manipulation Using a Virtual Nonholonomic Constraint76 citations · 2002
- 7The roles of shape and motion in dynamic manipulation: the butterfly example75 citations · 2002
- 8Impedance control of a direct-drive manipulator without using force sensors37 citations · 1990
- 9Tele-existence master-slave system for remote manipulation. II24 citations · 1990
- 10Control of mobile manipulator using a virtual impedance wall22 citations · 2003