Hiroshi Kokubu

Papers

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About

Hiroshi Kokubu is a leading figure in nonlinear dynamics and biomechanics, whose research bridges the gap between chaos theory and robotic locomotion. His primary focus is on the fractal mechanisms underlying passive dynamic walking—a model that mimics human gait on a shallow slope without active control or input. Kokubu’s major contribution lies in uncovering the intricate basin of attraction structures that govern stability in these energy-efficient systems. His most-cited work, "Fractal mechanism of basin of attraction in passive dynamic walking" (2020, 22 citations), reveals how fractal boundaries shape the small, fragile basins that make passive walkers susceptible to perturbations. In a subsequent study, "Disappearance of chaotic attractor of passive dynamic walking by stretch-bending deformation in basin of attraction" (2020, 3 citations), he further explores how deformations in the basin can cause chaotic attractors to vanish, deepening our understanding of stability transitions. Kokubu’s insights have profound implications for designing energy-efficient biped robots and advancing rehabilitation technologies, making his work essential reading for students and researchers in robotics, biomechanics, and applied nonlinear dynamics.