O. Matsumoto

About

O. Matsumoto is a pioneering robotics researcher whose work spans biped locomotion, mobile robot design, and autonomous navigation systems. Best known for introducing Meltran V, a biped robot with telescopic legs, Matsumoto made a landmark contribution to humanoid robotics by analyzing the dynamics of a three-dimensional inverted pendulum constrained to an arbitrarily defined plane — yielding elegantly simple linear dynamics that enabled real-time 3D walking pattern generation. This foundational 2002 paper has accumulated an impressive 237 citations, cementing its status as a key reference in legged robot control. Beyond bipeds, Matsumoto has made sustained contributions to wheeled robot design, developing variable-structure four-wheeled robots capable of dynamically negotiating stairs and steps, as well as investigating cooperative object transportation using mechanically unstable wheeled inverted pendulums. His conceptual work on "model-free robotics" — enabling robots to act stably in uncertain environments with minimal sensing — reflects a broader philosophical commitment to robust, adaptable machine behavior. Later applied work, including the intelligent wheelchair robot TAO Aicle demonstrated at EXPO 2005 in Japan, underscores his range from theoretical foundations to real-world deployment, making him a versatile and influential figure in robotics engineering.

Research Focus

Key Achievements

Top Papers

1. 1
   Real-time 3D walking pattern generation for a biped robot with telescopic legs

   237 citations · 2002
2. 2
   Dynamic trajectory control of passing over stairs by a biped type leg-wheeled robot with nominal reference of static gait

   36 citations · 2002
3. 3
   Cooperative behavior of a wheeled inverted pendulum for object transportation

   34 citations · 2002
4. 4
   Active/passive hybrid walking by the biped robot TOKAI ROBO-HABILIS 1

   13 citations · 2003
5. 5
   A four-wheeled robot to pass over steps by changing running control modes

   11 citations · 2002
6. 6
   The concept of model free robotics for robots to act in uncertain environments

   8 citations · 2002
7. 7
   Dynamic trajectory control of a variable structure type four-wheeled robot to pass over steps

   4 citations · 2002
8. 8
   Consideration of Velocity Terms in Finger-Arm Coordination Motion Planning

   4 citations · 1988
9. 9
   Fast passing over steps with unknown height by a 'variable structure type four-wheeled robot'

   3 citations · 2002
10. 10
    An application of location-based services to an intelligent wheelchair robot

    2 citations · 2006

Key Collaborators

Contact & Links