Y. Tomizawa
Papers
2
Total Citations
78
H-Index
2
About
Y. Tomizawa is a pioneering researcher in the field of bipedal robotics, with a primary focus on dynamic walking control and high-speed locomotion. His most influential work, "Biped Walking with Variable ZMP, Frictional Constraint, and Inverted Pendulum Model" (2005), has garnered 55 citations for its foundational contribution to stable biped walking. In this paper, Tomizawa integrated the Zero Moment Point (ZMP) concept with frictional constraints and the inverted pendulum model, establishing a comprehensive framework that separates biped walking into distinct phases—initial acceleration, double support, and deceleration. This work provides critical conditions for maintaining stability during dynamic motion. Tomizawa also made significant experimental contributions with the development of the biped robot MARI-1, detailed in his 2004 paper (23 citations). This lightweight platform, designed specifically for fast walking, showcases his hardware innovations in frame design, actuators, sensors, and control systems, along with novel walking pattern generation methods. Tomizawa’s research bridges theoretical stability analysis with practical robotic implementation, advancing the pursuit of agile, human-like locomotion in bipedal machines.
Research Focus
Key Achievements
Top Papers
- 1
- 2Experimental approach for high speed walking of biped robot MARI-123 citations · 2004