Takeshi Shintani
Papers
5
Total Citations
27
H-Index
4
About
Takeshi Shintani is a robotics researcher specializing in bipedal locomotion and discrete mechanics. His work focuses on developing novel gait generation methods for compass-type biped robots, particularly on challenging terrains such as slopes and periodically unlevel grounds. Shintani’s key contribution lies in applying discrete mechanics—a framework that preserves the geometric structure of continuous dynamics—to formulate and solve optimal gait generation problems. His most cited paper (9 citations) introduces a discrete mechanics approach for generating stable gaits on slopes, using sequential quadratic programming to compute optimal discrete control inputs. His 2011 and 2013 papers (6 and 5 citations, respectively) extend this methodology to unlevel terrains, deriving both continuous and discrete robot models (CCBR/DCBR) and formulating discrete optimal control problems. While his citation counts are modest, Shintani’s work represents a rigorous, mathematically principled alternative to traditional gait generation methods, offering insights into energy-efficient and stable locomotion for underactuated walking robots. His research is particularly valuable for students and engineers interested in the intersection of geometric mechanics, optimal control, and legged robotics.
Research Focus
Key Achievements
Top Papers
- 1
- 2
- 3
- 4
- 5