{"id":"https://openalex.org/W2583848343","doi":"https://doi.org/10.1007/s10015-017-0349-2","title":"Modeling of humanoid dynamics including slipping with nonlinear floor friction","display_name":"Modeling of humanoid dynamics including slipping with nonlinear floor friction","publication_year":2017,"publication_date":"2017-02-04","ids":{"openalex":"https://openalex.org/W2583848343","doi":"https://doi.org/10.1007/s10015-017-0349-2","mag":"2583848343"},"language":"en","primary_location":{"id":"doi:10.1007/s10015-017-0349-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10015-017-0349-2","pdf_url":null,"source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"},"type":"article","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/A5100610264","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-2696-9456"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Okayama, Japan"],"affiliations":[{"raw_affiliation_string":"Okayama, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006856796","display_name":"Hiroki Imanishi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hiroki Imanishi","raw_affiliation_strings":["Okayama, Japan"],"affiliations":[{"raw_affiliation_string":"Okayama, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Okayama, Japan"],"affiliations":[{"raw_affiliation_string":"Okayama, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091376701","display_name":"Takayuki Matsuno","orcid":"https://orcid.org/0000-0003-3372-0912"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takayuki Matsuno","raw_affiliation_strings":["Okayama, Japan"],"affiliations":[{"raw_affiliation_string":"Okayama, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005631553","display_name":"Akira Yanou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yanou Akira","raw_affiliation_strings":["Okayama, Japan"],"affiliations":[{"raw_affiliation_string":"Okayama, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100610264"],"corresponding_institution_ids":[],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.2603,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.53229418,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"22","issue":"2","first_page":"175","last_page":"183"},"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":0.9817000031471252,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9214000105857849,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/slipping","display_name":"Slipping","score":0.952147364616394},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6975298523902893},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5803462266921997},{"id":"https://openalex.org/keywords/kinetic-energy","display_name":"Kinetic energy","score":0.5575702786445618},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5556652545928955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.549774706363678},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5485261082649231},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.4904727637767792},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4641042947769165},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4630800187587738},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.422078400850296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3127296268939972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29388320446014404},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2917441129684448},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2871232032775879},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1278221309185028},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11858215928077698},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09707450866699219},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.07654178142547607}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.952147364616394},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6975298523902893},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5803462266921997},{"id":"https://openalex.org/C135889238","wikidata":"https://www.wikidata.org/wiki/Q46276","display_name":"Kinetic energy","level":2,"score":0.5575702786445618},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5556652545928955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.549774706363678},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5485261082649231},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.4904727637767792},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4641042947769165},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4630800187587738},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.422078400850296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3127296268939972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29388320446014404},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2917441129684448},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2871232032775879},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1278221309185028},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11858215928077698},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09707450866699219},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.07654178142547607},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10015-017-0349-2","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10015-017-0349-2","pdf_url":null,"source":{"id":"https://openalex.org/S104439334","display_name":"Artificial Life and Robotics","issn_l":"1433-5298","issn":["1433-5298","1614-7456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Artificial Life and Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1516004744","https://openalex.org/W1976188918","https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W2017303463","https://openalex.org/W2043050393","https://openalex.org/W2045543078","https://openalex.org/W2086756762","https://openalex.org/W2086853455","https://openalex.org/W2103642436","https://openalex.org/W2127928948","https://openalex.org/W2129754669","https://openalex.org/W2131249620","https://openalex.org/W2132030382","https://openalex.org/W2147285788","https://openalex.org/W2161439626","https://openalex.org/W2334056199","https://openalex.org/W2514914091","https://openalex.org/W2581262862","https://openalex.org/W2610901891","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786","https://openalex.org/W2220923292"],"abstract_inverted_index":null,"counts_by_year":[{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}