Papers
73
Total Citations
2,426
H-Index
22
About
Tomomichi Sugihara is a prominent robotics researcher whose work has fundamentally advanced the field of humanoid robot locomotion and motion control. His research centers on bipedal walking dynamics, real-time motion generation, and whole-body control of humanoid systems — areas where he has produced some of the most influential contributions in modern robotics. Sugihara's most celebrated work, "Real-time humanoid motion generation through ZMP manipulation based on inverted pendulum control" (2003, 460 citations), established a foundational framework for generating stable, dynamic humanoid movement using Zero Moment Point theory. Complementing this, his development of the H6 humanoid robot platform provided the research community with a powerful testbed for perception-action integration, garnering nearly 250 citations across related publications. His 2011 paper on the Levenberg–Marquardt inverse kinematics method (220 citations) delivered a remarkably elegant solution to a long-standing numerical challenge in robot control, widely adopted for its robustness and simplicity. Further cementing his impact, Sugihara's contributions to COG Jacobian-based whole-body balancing and online gait planning with boundary condition relaxation have shaped how researchers approach biped stabilization and step planning. With over 1,600 cumulative citations across his top works, Sugihara remains a cornerstone figure in humanoid robotics research.
Research Focus
Key Achievements
Top Papers
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- 2Solvability-Unconcerned Inverse Kinematics by the Levenberg–Marquardt Method220 citations · 2011
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- 4Whole-body cooperative balancing of humanoid robot using COG Jacobian180 citations · 2003
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