{"id":"https://openalex.org/W2163048086","doi":"https://doi.org/10.1017/s0263574709005487","title":"Biped gait generation based on parametric excitation by knee-joint actuation","display_name":"Biped gait generation based on parametric excitation by knee-joint actuation","publication_year":2009,"publication_date":"2009-03-17","ids":{"openalex":"https://openalex.org/W2163048086","doi":"https://doi.org/10.1017/s0263574709005487","mag":"2163048086"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709005487","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005487","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5024590431","display_name":"Yuji HARATA","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuji Harata","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100693525","display_name":"Zhiwei Luo","orcid":"https://orcid.org/0000-0003-2203-4984"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhi-Wei Luo","raw_affiliation_strings":["Department of Computer and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657-8501, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Computer and Systems Engineering, Graduate School of Engineering, Kobe University, 1-1 Rokkodai, Nada, Kobe 657-8501, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110509526","display_name":"Kouichi Taji","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouichi Taji","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110708782","display_name":"Yoji Uno","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoji Uno","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Graduate School of Engineering, Nagoya University, Furocho, Chikusa, Nagoya 464-8603, Japan","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5024590431"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":4.4469,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.94512413,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"27","issue":"7","first_page":"1063","last_page":"1073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9945999979972839,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9696999788284302,"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/parametric-statistics","display_name":"Parametric statistics","score":0.7791627049446106},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6740322113037109},{"id":"https://openalex.org/keywords/excitation","display_name":"Excitation","score":0.6514917016029358},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6142751574516296},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5895283222198486},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5446395874023438},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.5099383592605591},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5028879046440125},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4841369092464447},{"id":"https://openalex.org/keywords/parametric-model","display_name":"Parametric model","score":0.44738131761550903},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.42870959639549255},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42577171325683594},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40413352847099304},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.310555100440979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2634259760379791},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20848986506462097},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.183511883020401},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15104272961616516},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13297238945960999},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11897259950637817},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07162371277809143},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.061233967542648315},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.057172298431396484}],"concepts":[{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.7791627049446106},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6740322113037109},{"id":"https://openalex.org/C83581075","wikidata":"https://www.wikidata.org/wiki/Q1361503","display_name":"Excitation","level":2,"score":0.6514917016029358},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6142751574516296},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5895283222198486},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5446395874023438},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.5099383592605591},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5028879046440125},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4841369092464447},{"id":"https://openalex.org/C24574437","wikidata":"https://www.wikidata.org/wiki/Q7135228","display_name":"Parametric model","level":3,"score":0.44738131761550903},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.42870959639549255},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42577171325683594},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40413352847099304},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.310555100440979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2634259760379791},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20848986506462097},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.183511883020401},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15104272961616516},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13297238945960999},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11897259950637817},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07162371277809143},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.061233967542648315},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.057172298431396484},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574709005487","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005487","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1487434675","https://openalex.org/W2001816710","https://openalex.org/W2011918295","https://openalex.org/W2141682957","https://openalex.org/W2151794043","https://openalex.org/W2155747544","https://openalex.org/W2163668399","https://openalex.org/W6682548385"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W1237629136"],"abstract_inverted_index":{"SUMMARY":[0],"Restoration":[1],"of":[2,103],"mechanical":[3,25,63],"energy":[4,64],"dissipating":[5],"on":[6,41,67,109],"impact":[7],"at":[8],"the":[9,24,68,92],"ground":[10],"is":[11,19,76,89],"necessary":[12],"for":[13,34],"sustainable":[14],"gait":[15],"generation.":[16],"Parametric":[17],"excitation":[18,32,50,74],"one":[20],"approach":[21],"to":[22,51,78],"restore":[23],"energy.":[26],"Asano":[27],"et":[28],"al":[29],".":[30],"(\u201cParametric":[31],"mechanisms":[33],"dynamic":[35],"bipedal":[36],"walking,\u201d":[37],"IEEE":[38],"International":[39],"Conference":[40],"Robotics":[42],"and":[43,87,106],"Automation":[44],"(2005)":[45],"pp.":[46],"611\u2013617.)":[47],"applied":[48,77],"parametric":[49,73],"a":[52,79],"biped":[53,81],"robot":[54,82,93],"with":[55,83],"telescopic-legs,":[56],"in":[57],"which":[58],"up-and-down":[59],"motion":[60],"restores":[61],"total":[62],"like":[65],"playing":[66],"swing.":[69],"In":[70],"this":[71],"paper,":[72],"principle":[75],"kneed":[80],"only":[84],"knee":[85],"actuation":[86],"it":[88],"shown":[90],"that":[91],"walks":[94],"successively":[95],"without":[96],"hip":[97],"actuation.":[98],"We":[99],"also":[100],"examine":[101],"influences":[102],"several":[104],"parameters":[105],"reference":[107],"trajectory":[108],"walking":[110],"performance.":[111]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
