{"id":"https://openalex.org/W158310132","doi":"https://doi.org/10.1007/3-540-26415-9_23","title":"Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight","display_name":"Hip Joint Control of a Legged Robot for Walking Uniformly and the Self-lock Mechanism for Compensating Torque Caused by Weight","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W158310132","doi":"https://doi.org/10.1007/3-540-26415-9_23","mag":"158310132"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-26415-9_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-26415-9_23","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Climbing and Walking Robots","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5111548750","display_name":"Toru OKADA","orcid":null},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Okada","raw_affiliation_strings":["Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108405694","display_name":"Takuo Sakai","orcid":null},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Sakai","raw_affiliation_strings":["Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000824437","display_name":"K. Shibuya","orcid":null},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Shibuya","raw_affiliation_strings":["Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048283984","display_name":"Toshihisa Shimizu","orcid":"https://orcid.org/0000-0003-2775-2539"},"institutions":[{"id":"https://openalex.org/I71395657","display_name":"Niigata University","ror":"https://ror.org/04ww21r56","country_code":"JP","type":"education","lineage":["https://openalex.org/I71395657"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Shimizu","raw_affiliation_strings":["Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Biocybernetics, Faculty of Engineering, Niigata University, Ikarashi 2-8050, Niigata, 950-2181, Japan","institution_ids":["https://openalex.org/I71395657"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111548750"],"corresponding_institution_ids":["https://openalex.org/I71395657"],"apc_list":null,"apc_paid":null,"fwci":2.2998,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88934693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"197","last_page":"204"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9606000185012817,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.689070463180542},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6655141711235046},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6375433206558228},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6129922270774841},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6076258420944214},{"id":"https://openalex.org/keywords/perpendicular","display_name":"Perpendicular","score":0.5955019593238831},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.514120876789093},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4275965094566345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4167528450489044},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3550947606563568},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2932710647583008},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.27309343218803406},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20262417197227478},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2010100781917572},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16505590081214905},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14001360535621643},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13042542338371277}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.689070463180542},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6655141711235046},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6375433206558228},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6129922270774841},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6076258420944214},{"id":"https://openalex.org/C199631012","wikidata":"https://www.wikidata.org/wiki/Q205034","display_name":"Perpendicular","level":2,"score":0.5955019593238831},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.514120876789093},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4275965094566345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4167528450489044},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3550947606563568},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2932710647583008},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.27309343218803406},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20262417197227478},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2010100781917572},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16505590081214905},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14001360535621643},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13042542338371277},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/3-540-26415-9_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-26415-9_23","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Climbing and Walking Robots","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2133061327","https://openalex.org/W2146709755","https://openalex.org/W2155963065","https://openalex.org/W2340403699","https://openalex.org/W2489550815"],"related_works":["https://openalex.org/W2026415250","https://openalex.org/W2025519054","https://openalex.org/W2551099955","https://openalex.org/W4249459739","https://openalex.org/W4322622652","https://openalex.org/W2025960426","https://openalex.org/W110205316","https://openalex.org/W2014368546","https://openalex.org/W3023270808","https://openalex.org/W4231472438"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
