Papers
36
Total Citations
785
H-Index
14
About
Takeshi Sakaguchi is a leading figure in humanoid robotics, best known for his pivotal role in developing the HRP series—Japan’s flagship humanoid platform. His research centers on whole-body motion planning, collision-free dynamic control, and the practical industrialization of humanoid robots for real-world tasks. Sakaguchi’s most significant contribution is the introduction of the HRP-5P, an electrically actuated humanoid with high-power, wide-range joints designed for construction and heavy labor (152 citations). He also led the development of HRP-2Kai, a disaster-response variant of the iconic HRP-2 (90 citations), and pioneered a two-stage iterative planning framework that generates 3-D collision-free motions while accounting for complex robot dynamics (106 citations). His impact extends to competition design, as evidenced by his leadership in the World Robot Summit’s Assembly Challenge (69 citations). Notably, Sakaguchi has tackled practical safety issues, such as mitigating impact acceleration in falling humanoids using airbags (32 citations), and has explored dexterous manipulation, including juggling and the ball-in-cup game. With over 570 cumulative citations, Sakaguchi’s work bridges foundational motion planning and the urgent push toward commercializing humanoid robots for industrial applications.
Research Focus
Key Achievements
Top Papers
- 1
- 2Planning 3-D Collision-Free Dynamic Robotic Motion Through Iterative Reshaping106 citations · 2008
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- 5Smooth Collision Avoidance: Practical Issues in Dynamic Humanoid Motion34 citations · 2006
- 6Impact acceleration of falling humanoid robot with an airbag32 citations · 2016
- 7Motion planning and control for a robot performer31 citations · 2002
- 8
- 9Dynamic manipulation of ball-in-cup game20 citations · 2002
- 10Inter-vehicle communications for merging control17 citations · 2003