{"id":"https://openalex.org/W2895759829","doi":"https://doi.org/10.1080/01691864.2018.1526709","title":"Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid","display_name":"Trunk motion control during the flight phase while hopping considering angular momentum of a humanoid","publication_year":2018,"publication_date":"2018-10-02","ids":{"openalex":"https://openalex.org/W2895759829","doi":"https://doi.org/10.1080/01691864.2018.1526709","mag":"2895759829"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2018.1526709","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2018.1526709","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5050053184","display_name":"Takuya Otani","orcid":"https://orcid.org/0000-0002-5514-6037"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takuya Otani","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-5514-6037","affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Japan","Humanoid Robotics Institute, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Japan","institution_ids":["https://openalex.org/I16656306"]},{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082525588","display_name":"Takaya Isomichi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takaya Isomichi","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014616098","display_name":"Akira Natsuhara","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Natsuhara","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030002585","display_name":"Masanori Sakaguchi","orcid":"https://orcid.org/0000-0002-7211-9452"},"institutions":[{"id":"https://openalex.org/I4210126685","display_name":"Asics (Japan)","ror":"https://ror.org/03dak6a36","country_code":"JP","type":"company","lineage":["https://openalex.org/I4210126685"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masanori Sakaguchi","raw_affiliation_strings":["Institute of Sport Science, ASICS Corporation, Hyogo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Sport Science, ASICS Corporation, Hyogo, Japan","institution_ids":["https://openalex.org/I4210126685"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085812743","display_name":"Yasuo Kawakami","orcid":"https://orcid.org/0000-0003-0588-4039"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuo Kawakami","raw_affiliation_strings":["Faculty of Sport Sciences, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Sport Sciences, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085412119","display_name":"Hun\u2010ok Lim","orcid":"https://orcid.org/0009-0001-9116-8663"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I41802502","display_name":"Kanagawa University","ror":"https://ror.org/02j6c0d67","country_code":"JP","type":"education","lineage":["https://openalex.org/I41802502"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hun-ok Lim","raw_affiliation_strings":["Faculty of Engineering, Kanagawa University, Yokohama, Kanagawa, Japan","Humanoid Robotics Institute, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Kanagawa University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I41802502"]},{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Humanoid Robotics Institute, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5050053184"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.1082,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.4512749,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"32","issue":"22","first_page":"1197","last_page":"1206"},"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":0.9965000152587891,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.692839503288269},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.6788918375968933},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5449936389923096},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.5178380608558655},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.5024580955505371},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.48605042695999146},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.45161229372024536},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4354346990585327},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42358678579330444},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.4206825792789459},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4035664200782776},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32825034856796265},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2731224000453949},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.27036771178245544},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.22222045063972473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11584043502807617},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09378784894943237}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.692839503288269},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.6788918375968933},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5449936389923096},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.5178380608558655},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.5024580955505371},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.48605042695999146},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.45161229372024536},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4354346990585327},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42358678579330444},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.4206825792789459},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4035664200782776},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32825034856796265},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2731224000453949},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27036771178245544},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.22222045063972473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11584043502807617},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09378784894943237},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2018.1526709","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2018.1526709","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1633890253","display_name":"Evaluation of form-quality-function aspects of skeletal muscles: toward remarkable upgrading of physical movement performance for ordinary individuals and elite athletes","funder_award_id":"16H01870","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G5151311256","display_name":"Upper body motion control method of humanoid robot based on angular momentum compensation mechanism of human","funder_award_id":"18K18132","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G6221485367","display_name":"Research on Instantaneous High-power Motion Generation by Whole-body Coordination of a Humanoid Robot","funder_award_id":"17H00767","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W57809982","https://openalex.org/W1496183257","https://openalex.org/W1874450194","https://openalex.org/W1971175227","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2075135730","https://openalex.org/W2096459446","https://openalex.org/W2105229687","https://openalex.org/W2109544622","https://openalex.org/W2112853120","https://openalex.org/W2115584829","https://openalex.org/W2117015196","https://openalex.org/W2118320757","https://openalex.org/W2121829700","https://openalex.org/W2123898591","https://openalex.org/W2137300190","https://openalex.org/W2143729862","https://openalex.org/W2157055752","https://openalex.org/W2161427949","https://openalex.org/W2162405796","https://openalex.org/W2168936093","https://openalex.org/W2170116736","https://openalex.org/W2269562201","https://openalex.org/W2325436006","https://openalex.org/W2460655373","https://openalex.org/W2476611047","https://openalex.org/W2582371046","https://openalex.org/W2616685044","https://openalex.org/W2623660146","https://openalex.org/W2781545497"],"related_works":["https://openalex.org/W2680871907","https://openalex.org/W142004827","https://openalex.org/W2091484722","https://openalex.org/W2385342822","https://openalex.org/W1591008997","https://openalex.org/W3044897510","https://openalex.org/W3013617078","https://openalex.org/W631266968","https://openalex.org/W2202333230","https://openalex.org/W2023930187"],"abstract_inverted_index":{"In":[0,44,88],"previous":[1],"studies,":[2],"various":[3],"stabilizing":[4],"control":[5,34,51,72,151],"methods":[6,21],"for":[7,76,126,140],"humanoids":[8],"during":[9,35,52,84,108],"the":[10,33,36,42,50,53,58,77,81,85,91,96,99,109,113,120,127,130,137,141,146,149,160,164],"stance":[11],"phase":[12,38,55],"while":[13,25,63],"hopping":[14,26,161],"and":[15,27,112,155],"running":[16],"were":[17],"proposed.":[18],"Although":[19],"these":[20],"contribute":[22],"to":[23,118,124],"stability":[24,59],"running,":[28],"it":[29],"is":[30,106,134],"possibility":[31],"that":[32,74,159],"flight":[37,54,86,110],"could":[39],"also":[40],"affect":[41,57],"stability.":[43],"this":[45,89],"study,":[46],"we":[47,69,157],"investigated":[48],"whether":[49],"can":[56],"of":[60,80,98,129,145],"a":[61,71],"humanoid":[62],"running.":[64],"To":[65],"achieve":[66],"stable":[67],"hopping,":[68],"developed":[70,154],"system":[73,144,152],"accounts":[75],"angular":[78,92,121],"momentum":[79,93,122],"whole":[82],"body":[83,101],"phase.":[87],"system,":[90],"generated":[94],"by":[95],"motion":[97,142],"lower":[100],"in":[102,163],"each":[103],"time":[104],"interval":[105],"calculated":[107],"phase,":[111],"trunk":[114],"joints":[115],"are":[116],"controlled":[117],"generate":[119],"necessary":[123],"compensate":[125],"deviation":[128],"waist":[131],"posture,":[132],"which":[133],"used":[135],"as":[136],"reference":[138],"point":[139],"coordinate":[143],"robot.":[147],"Once":[148],"proposed":[150],"was":[153,167],"simulated,":[156],"found":[158],"duration":[162],"unconstrained":[165],"state":[166],"extended.":[168]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
