{"id":"https://openalex.org/W2124028317","doi":"https://doi.org/10.1017/s0263574714001593","title":"Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control","display_name":"Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control","publication_year":2014,"publication_date":"2014-07-15","ids":{"openalex":"https://openalex.org/W2124028317","doi":"https://doi.org/10.1017/s0263574714001593","mag":"2124028317"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714001593","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001593","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":true,"oa_status":"green","oa_url":"https://kitami-it.repo.nii.ac.jp/records/8546","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006907783","display_name":"Ying Cao","orcid":"https://orcid.org/0000-0002-9288-3167"},"institutions":[{"id":"https://openalex.org/I98957242","display_name":"Kitami Institute of Technology","ror":"https://ror.org/05wks2t16","country_code":"JP","type":"education","lineage":["https://openalex.org/I98957242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ying Cao","raw_affiliation_strings":["Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","Graduate School of Engineering; Kitami Institute of Technology; Kitami Hokkaido Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","institution_ids":["https://openalex.org/I98957242"]},{"raw_affiliation_string":"Graduate School of Engineering; Kitami Institute of Technology; Kitami Hokkaido Japan","institution_ids":["https://openalex.org/I98957242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012907894","display_name":"Soichiro SUZUKI","orcid":"https://orcid.org/0000-0003-3342-868X"},"institutions":[{"id":"https://openalex.org/I98957242","display_name":"Kitami Institute of Technology","ror":"https://ror.org/05wks2t16","country_code":"JP","type":"education","lineage":["https://openalex.org/I98957242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Soichiro Suzuki","raw_affiliation_strings":["Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","institution_ids":["https://openalex.org/I98957242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069491400","display_name":"Yohei HOSHINO","orcid":"https://orcid.org/0000-0003-1052-7079"},"institutions":[{"id":"https://openalex.org/I98957242","display_name":"Kitami Institute of Technology","ror":"https://ror.org/05wks2t16","country_code":"JP","type":"education","lineage":["https://openalex.org/I98957242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yohei Hoshino","raw_affiliation_strings":["Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","institution_ids":["https://openalex.org/I98957242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006907783"],"corresponding_institution_ids":["https://openalex.org/I98957242"],"apc_list":null,"apc_paid":null,"fwci":0.3846,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.65512763,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":"3","first_page":"483","last_page":"496"},"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":0.9950000047683716,"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":0.9768000245094299,"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/torso","display_name":"Torso","score":0.9038078784942627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6232908964157104},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5481080412864685},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5470231771469116},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49829983711242676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49195596575737},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4745660126209259},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.47182497382164},{"id":"https://openalex.org/keywords/energy-transfer","display_name":"Energy transfer","score":0.4473685622215271},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.442207396030426},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2988373637199402},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22808480262756348},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16827550530433655},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16774284839630127},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0684526264667511}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.9038078784942627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6232908964157104},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5481080412864685},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5470231771469116},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49829983711242676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49195596575737},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4745660126209259},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.47182497382164},{"id":"https://openalex.org/C106447425","wikidata":"https://www.wikidata.org/wiki/Q11379","display_name":"Energy transfer","level":2,"score":0.4473685622215271},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.442207396030426},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2988373637199402},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22808480262756348},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16827550530433655},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16774284839630127},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0684526264667511},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C61696701","wikidata":"https://www.wikidata.org/wiki/Q770766","display_name":"Engineering physics","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574714001593","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714001593","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"},{"id":"pmh:oai:irdb.nii.ac.jp:01268:0002090634","is_oa":true,"landing_page_url":"https://kitami-it.repo.nii.ac.jp/records/8546","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"}],"best_oa_location":{"id":"pmh:oai:irdb.nii.ac.jp:01268:0002090634","is_oa":true,"landing_page_url":"https://kitami-it.repo.nii.ac.jp/records/8546","pdf_url":null,"source":{"id":"https://openalex.org/S7407056385","display_name":"Institutional Repositories DataBase (IRDB)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I184597095","host_organization_name":"National Institute of Informatics","host_organization_lineage":["https://openalex.org/I184597095"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotica","raw_type":"journal article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1608101987","https://openalex.org/W1969644139","https://openalex.org/W1995749731","https://openalex.org/W2019036072","https://openalex.org/W2029058516","https://openalex.org/W2065942939","https://openalex.org/W2071307076","https://openalex.org/W2074040233","https://openalex.org/W2107149337","https://openalex.org/W2119105564","https://openalex.org/W2148966638","https://openalex.org/W2153763008","https://openalex.org/W2163048086","https://openalex.org/W2163668399","https://openalex.org/W2167010174","https://openalex.org/W2314346975","https://openalex.org/W2335471957","https://openalex.org/W2575978554","https://openalex.org/W6634994465","https://openalex.org/W6657490393"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2579089916","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W4308297792","https://openalex.org/W2646895776","https://openalex.org/W2663581286"],"abstract_inverted_index":{"SUMMARY":[0],"Passive":[1],"walking":[2,30,36,58],"robots":[3],"can":[4],"walk":[5],"on":[6,22],"a":[7,17,27],"slight":[8],"downward":[9],"slope":[10],"powered":[11],"only":[12],"by":[13,37],"gravity.":[14],"We":[15,54],"propose":[16],"novel":[18],"control":[19,40],"strategy":[20],"based":[21],"forced":[23],"entrainment":[24],"to":[25],"stabilize":[26],"three-dimensional":[28],"quasi-passive":[29],"robot":[31,96],"in":[32,41,65],"uphill":[33,79],"and":[34,45,63,76,80,91,99,103],"level":[35,81],"using":[38],"torso":[39],"the":[42,56,71,95],"frontal":[43],"plane":[44],"synchronization":[46],"of":[47,89,94],"lateral":[48],"motion":[49],"with":[50],"swing":[51],"leg":[52],"motion.":[53],"investigated":[55],"robot's":[57],"energy":[59,61,86,92,101],"efficiency,":[60],"transformation,":[62],"transfer":[64,104],"simulation.":[66],"The":[67,83],"results":[68],"showed":[69],"that":[70],"proposed":[72],"method":[73],"is":[74],"effective":[75],"energy-efficient":[77],"for":[78],"walking.":[82],"relationship":[84],"between":[85],"utilization":[87],"rate":[88],"actuation":[90],"efficiency":[93],"was":[97],"revealed,":[98],"mechanical":[100],"transformation":[102],"were":[105],"characterized.":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}