Susumu Ohtake

Papers

Total Citations

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About

Susumu Ohtake’s research centers on bio-inspired robotics, specifically the control of underactuated bipedal locomotion. His major contributions lie in developing adaptive control methods that enable robots to walk and run stably over irregular terrains without relying on precise dynamic models. Central to his work is the “KenkenII” robot, a bipedal platform featuring spring-based tendon systems that mimic animal physiology. Ohtake pioneered the use of Central Pattern Generators (CPGs) and synchronous oscillators to achieve robust, self-stabilizing gait transitions from zero velocity. His 2009 paper on CPG control and his 2008 work on synchronous oscillators, each garnering 2 citations, laid foundational ideas for model-free, environmentally adaptive locomotion in underactuated systems. While his citation counts are modest, Ohtake’s focus on mechanical compliance and neural-inspired control has informed subsequent research in legged robotics, particularly for applications requiring resilience on uneven ground. His work exemplifies how biological principles can simplify control challenges in dynamic locomotion.