Juan M. Ibarra

Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional, Instituto Politécnico Nacional

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About

Juan M. Ibarra is a robotics researcher whose work bridges humanoid locomotion, visual perception, and intelligent control. His primary research areas include inverse kinematics for humanoid robots, visual simultaneous localization and mapping (SLAM), and stability control for walking robots. Ibarra’s most influential contribution is his explicit analytic solution for the inverse kinematics of the Bioloid humanoid robot (27 citations), which provides a foundational framework for understanding kinematic concepts in robots with multiple degrees of freedom. He has also advanced visual SLAM by developing systems that use oriented landmarks and partial odometry for structured indoor environments, employing low-cost humanoid platforms with custom pan-and-tilt camera mounts. His work on asymptotically stable visual servoing via neural networks (7 citations) demonstrates innovative use of artificial neural networks to bypass complex inverse kinematic computations in manipulator control. More recently, Ibarra has focused on walk stability control for position-controlled servo-actuated humanoids, implementing preview ZMP controllers to enable torque-based stability on affordable platforms like the customized Bioloid Premium kit. With a career spanning from foundational kinematic solutions to practical stability implementations, Ibarra’s research has directly enabled more capable and accessible humanoid robotics.