Hirohisa Hirukawa
National Institute of Advanced Industrial Science and Technology, Systems Research Institute, Ibaraki National College of Technology, University of Tsukuba, Ministry of Economy, Trade and Industry, Japan Science and Technology Agency, Intelligent Systems Research (United States), University of Electro-Communications, Kobe University
Papers
104
Total Citations
10,056
H-Index
46
About
Hirohisa Hirukawa is a pioneering figure in humanoid robotics, whose foundational contributions have shaped how bipedal robots walk, balance, and move. His research centers on biped locomotion, motion planning, and humanoid robot development, with particular emphasis on the mathematical frameworks that make stable, human-like movement achievable in real robotic systems. Hirukawa's most celebrated contributions include the development of preview control for zero-moment point (ZMP)-based walking pattern generation (2004, 2,083 citations) and the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM), a elegantly simple model for biped walking dynamics (2002, 1,036 citations). Together, these works established core methodologies that remain widely used in robotics research today. He also led the development of the landmark HRP-2 humanoid robot (2004, 750 citations), a versatile platform that advanced practical humanoid engineering globally, and spearheaded OpenHRP, an influential open-architecture simulation and control platform. His "Resolved Momentum Control" framework (463 citations) further extended whole-body humanoid motion planning capabilities. Beyond technical papers, his textbook *Introduction to Humanoid Robotics* (2014, 393 citations) has become an essential educational resource. With a consistently cited body of work spanning locomotion theory, hardware development, and software infrastructure, Hirukawa stands as one of the most impactful researchers in modern humanoid robotics.
Research Focus
Key Achievements
Top Papers
- 1Biped walking pattern generation by using preview control of zero-moment point2,083 citations · 2004
- 2
- 3Humanoid robot HRP-2750 citations · 2004
- 4
- 5Introduction to Humanoid Robotics393 citations · 2014
- 6A realtime pattern generator for biped walking305 citations · 2003
- 7OpenHRP: Open Architecture Humanoid Robotics Platform246 citations · 2007
- 8OpenHRP: Open Architecture Humanoid Robotics Platform238 citations · 2004
- 9
- 10A universal stability criterion of the foot contact of legged robots - adios ZMP188 citations · 2006