Masami Masubuchi

The University of Osaka, Hosei University

Papers

Total Citations

162

H-Index

About

Masami Masubuchi is a pioneering figure in the field of bipedal robotics and locomotion control, whose foundational work has shaped the development of dynamic walking machines. His most celebrated contribution, the 1986 paper "Control of a Dynamical Biped Locomotion System for Steady Walking" (157 citations), introduced a hierarchical control structure that enabled a biped robot to achieve remarkably human-like, high-speed walking—with a cycle of just 0.45 seconds and a speed of 0.8 m/s. This work demonstrated that stable, dynamic locomotion could be realized through a layered feedback system, a concept that remains influential in modern humanoid robotics. Masubuchi also explored robust control strategies for systems with parameter uncertainties, applying Lyapunov-based methods to ensure stability. While his later papers on hierarchical forecast control and robust linear systems have garnered fewer citations, his 1986 breakthrough stands as a landmark achievement in the field. For students and researchers, Masubuchi’s work offers a compelling example of how elegant control theory can bring machines to life, bridging the gap between theoretical stability and practical, agile movement.