Kensuke Harada
National Institute of Advanced Industrial Science and Technology, Systems Research Institute, The University of Osaka, Osaka University of Economics, Stanford University, Scuola Superiore Sant'Anna, Hiroshima University, City University of Hong Kong, Sun Yat-sen University, Kyoto University, Toyo University
Papers
252
Total Citations
9,636
H-Index
45
About
Kensuke Harada is a leading robotics researcher whose work has fundamentally shaped the fields of humanoid robotics, biped locomotion, and robotic manipulation. Best known for his groundbreaking 2004 paper on biped walking pattern generation using preview control of the Zero-Moment Point (ZMP) — now a cornerstone reference with over 2,000 citations — Harada has consistently advanced the theoretical and practical foundations of legged robot motion. His contributions span real-time gait planning, walking stabilization, and novel stability criteria that challenge conventional ZMP-based frameworks, with his "adios ZMP" paper offering a more universal approach to foot contact analysis. Harada also played a central role in the development of the HRP-3 humanoid robot platform and contributed to whole-body motion planning through resolved momentum control. His 2014 textbook, *Introduction to Humanoid Robotics*, has become an essential resource for the field, accumulating nearly 400 citations. More recently, his survey on deformable object manipulation highlights his expanding research vision toward flexible, real-world robotic applications. Across more than two decades, Harada's work has garnered thousands of citations, cementing his reputation as one of the most influential figures in modern robotics.
Research Focus
Key Achievements
Top Papers
- 1Biped walking pattern generation by using preview control of zero-moment point2,083 citations · 2004
- 2
- 3Biped walking stabilization based on linear inverted pendulum tracking433 citations · 2010
- 4Introduction to Humanoid Robotics393 citations · 2014
- 5Humanoid robot HRP-3294 citations · 2008
- 6Challenges and Outlook in Robotic Manipulation of Deformable Objects244 citations · 2022
- 7Motion Planning for Legged Robots on Varied Terrain206 citations · 2008
- 8A universal stability criterion of the foot contact of legged robots - adios ZMP188 citations · 2006
- 9Biped Walking Pattern Generator allowing Auxiliary ZMP Control178 citations · 2006
- 10AN ANALYTICAL METHOD FOR REAL-TIME GAIT PLANNING FOR HUMANOID ROBOTS151 citations · 2006