{"id":"https://openalex.org/W1518362147","doi":"https://doi.org/10.1023/a:1008896010368","title":"Control of a Biped Walking Robot during the Double Support Phase","display_name":"Control of a Biped Walking Robot during the Double Support Phase","publication_year":1997,"publication_date":"1997-09-01","ids":{"openalex":"https://openalex.org/W1518362147","doi":"https://doi.org/10.1023/a:1008896010368","mag":"1518362147"},"language":"en","primary_location":{"id":"doi:10.1023/a:1008896010368","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008896010368","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","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/A5108230193","display_name":"K. Mitobe","orcid":null},"institutions":[{"id":"https://openalex.org/I112524849","display_name":"Yamagata University","ror":"https://ror.org/00xy44n04","country_code":"JP","type":"education","lineage":["https://openalex.org/I112524849"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Mitobe","raw_affiliation_strings":["Faculty of Engineering, Yamagata University, Japan","Faculty of Engineering, Yamagata University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Yamagata University, Japan","institution_ids":["https://openalex.org/I112524849"]},{"raw_affiliation_string":"Faculty of Engineering, Yamagata University","institution_ids":["https://openalex.org/I112524849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022645695","display_name":"Naoki Mori","orcid":"https://orcid.org/0000-0002-0707-3443"},"institutions":[{"id":"https://openalex.org/I112524849","display_name":"Yamagata University","ror":"https://ror.org/00xy44n04","country_code":"JP","type":"education","lineage":["https://openalex.org/I112524849"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Mori","raw_affiliation_strings":["Faculty of Engineering, Yamagata University, Japan","Faculty of Engineering, Yamagata University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Yamagata University, Japan","institution_ids":["https://openalex.org/I112524849"]},{"raw_affiliation_string":"Faculty of Engineering, Yamagata University","institution_ids":["https://openalex.org/I112524849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070006458","display_name":"Yasuo Nasu","orcid":null},"institutions":[{"id":"https://openalex.org/I112524849","display_name":"Yamagata University","ror":"https://ror.org/00xy44n04","country_code":"JP","type":"education","lineage":["https://openalex.org/I112524849"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Nasu","raw_affiliation_strings":["Faculty of Engineering, Yamagata University, Japan","Faculty of Engineering, Yamagata University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Yamagata University, Japan","institution_ids":["https://openalex.org/I112524849"]},{"raw_affiliation_string":"Faculty of Engineering, Yamagata University","institution_ids":["https://openalex.org/I112524849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113103957","display_name":"N. Adachi","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Adachi","raw_affiliation_strings":["Faculty of Engineering, Kyoto University, Japan","Faculty of Engineering , Kyoto University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Kyoto University, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Faculty of Engineering , Kyoto University","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.05090772,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":"3","first_page":"287","last_page":"296"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T13382","display_name":"Robotics and Automated Systems","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/computer-science","display_name":"Computer science","score":0.8505353927612305},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.688249945640564},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.553997814655304},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5313924551010132},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4802168309688568},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47417008876800537},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.47389450669288635},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.4695820212364197},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4569949507713318},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.43068066239356995},{"id":"https://openalex.org/keywords/reference-frame","display_name":"Reference frame","score":0.4262133836746216},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.41718822717666626},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.41319039463996887},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.389273077249527},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3158458173274994},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22232168912887573},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07724088430404663},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07363733649253845},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06567171216011047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06392762064933777}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8505353927612305},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.688249945640564},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.553997814655304},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5313924551010132},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4802168309688568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47417008876800537},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47389450669288635},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.4695820212364197},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4569949507713318},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.43068066239356995},{"id":"https://openalex.org/C172849965","wikidata":"https://www.wikidata.org/wiki/Q3148875","display_name":"Reference frame","level":3,"score":0.4262133836746216},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.41718822717666626},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.41319039463996887},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.389273077249527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3158458173274994},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22232168912887573},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07724088430404663},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07363733649253845},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06567171216011047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06392762064933777},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1023/a:1008896010368","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008896010368","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1545656448","https://openalex.org/W1838474595","https://openalex.org/W1970765391","https://openalex.org/W2030841673","https://openalex.org/W2072476139","https://openalex.org/W2086756762","https://openalex.org/W2151182239","https://openalex.org/W2169005065","https://openalex.org/W2914508454","https://openalex.org/W3038698521","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W2789518417","https://openalex.org/W4213217485","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W2566545183","https://openalex.org/W2499449816","https://openalex.org/W2059085722","https://openalex.org/W238145802","https://openalex.org/W4210856988"],"abstract_inverted_index":null,"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2016-06-24T00:00:00"}