Masafumi Saito

Papers

Total Citations

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About

Masafumi Saito is a robotics researcher whose work centers on the dynamic control of hybrid locomotion systems, particularly leg/wheel mobile robots. His primary research areas include model predictive control (MPC), posture stabilization, and the application of the zero moment point (ZMP) criterion to non-conventional robotic platforms. Saito’s major contribution lies in extending MPC-based posture control to three-dimensional leg/wheel robots, where he minimized the distance between the ZMP and the center of gravity to achieve stable, agile motion. This work addresses a critical challenge in hybrid locomotion—balancing the efficiency of wheels with the terrain adaptability of legs. While his most-cited paper, “Model predictive posture control considering zero moment point for three-dimensional motion of leg/wheel mobile robot” (2017, 3 citations), represents a foundational step in this niche, its impact is amplified by its integration into broader research on real-time control for mobile robots. Saito’s approach offers a promising framework for future autonomous systems requiring both speed and stability, marking him as a thoughtful contributor to the evolving field of legged-wheeled robotics.