Yasunori Kikuchi

Japan Advanced Institute of Science and Technology

Papers

Total Citations

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About

Yasunori Kikuchi is a leading researcher in the field of bipedal robotics, with a primary focus on underactuated locomotion and dynamic walking on challenging terrains. His work centers on the fundamental mechanics of limit cycle walking, particularly for bipedal robots operating on slippery or low-friction surfaces such as ice and oily floors. Kikuchi’s major contributions include developing mathematical models for planar underactuated biped robots with upper bodies, enabling stable walking despite unpredictable ground conditions. He has also pioneered methods for generating collisionless walking gaits for non-straight-legged bipeds, eliminating disruptive state jumps during motion by integrating reaction wheels for hip stabilization. His research, though niche, has garnered a cumulative citation count of approximately 8 from his most cited works, reflecting its specialized impact within the robotics community. Notably, Kikuchi’s work on strict output-following controllers for point-footed robots advances the theoretical framework for passive-dynamic walking, offering insights into energy-efficient and human-like gait generation. His studies are essential reading for students and researchers exploring robust, adaptive locomotion in real-world environments.