Yuji HARATA

About

Yuji Harata is a leading researcher in bipedal robotics, specializing in parametric excitation walking, passive dynamic walking, and novel locomotion on challenging terrains. His major contributions center on restoring mechanical energy lost during gait—particularly through knee-joint actuation and parametric excitation—enabling sustainable, efficient bipedal locomotion without traditional active control. His most-cited work, "Biped gait generation based on parametric excitation by knee-joint actuation" (2009, 35 citations), demonstrates how mechanical energy dissipated at heel-strike can be restored using parametric excitation, a principle he has refined with delayed feedback control (27 citations) and applied to ornithoid and four-linked bipedal robots. Harata has also pioneered sliding and rotating locomotion on slippery downhill surfaces (15 citations), expanding the scope of passive dynamics to unstable environments. His work on 3-DOF passive dynamic walking with semicircular feet (8 citations) challenges conventional constraints, showing that stable gaits can emerge even with sliding. With over 130 cumulative citations, Harata’s research bridges theoretical mechanics and practical robot design, offering elegant solutions for energy-efficient, self-sustaining walking—critical for advancing legged robots in real-world, unpredictable conditions.

Research Focus

Key Achievements

Top Papers

1. 1
   Biped gait generation based on parametric excitation by knee-joint actuation

   35 citations · 2009
2. 2
   Efficient parametric excitation walking with delayed feedback control

   27 citations · 2011
3. 3
   Biped gait generation based on parametric excitation by knee-joint actuation

   16 citations · 2007
4. 4
   A novel locomotion robot that slides and rotates on slippery downhill

   15 citations · 2016
5. 5
   3-DOF passive dynamic walking of compass-like biped robot with semicircular feet generated on slippery downhill

   8 citations · 2016
6. 6
   Efficient parametric excitation walking with delayed feedback control

   8 citations · 2009
7. 7
   Parametric excitation based gait generation for ornithoid walking

   8 citations · 2008
8. 8
   Parametric Excitation Walking for Four-linked Bipedal Robot

   7 citations · 2009
9. 9
   Efficiency analysis of telescopic-legged bipedal robots

   6 citations · 2018
10. 10
    Sliding Passive Dynamic Walking of Compass-Like Biped Robot: Collision Modeling, Necessary Conditions, and Complexity

    5 citations · 2017

Key Collaborators

Contact & Links