{"id":"https://openalex.org/W3015776516","doi":"https://doi.org/10.1080/01691864.2020.1749725","title":"Dynamic model for using casterboard by a humanoid robot","display_name":"Dynamic model for using casterboard by a humanoid robot","publication_year":2020,"publication_date":"2020-04-10","ids":{"openalex":"https://openalex.org/W3015776516","doi":"https://doi.org/10.1080/01691864.2020.1749725","mag":"3015776516"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2020.1749725","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1749725","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/A5041295349","display_name":"Ryoga FUKAI","orcid":null},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"R. Fukai","raw_affiliation_strings":["UNICAST Inc., Hitachi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"UNICAST Inc., Hitachi, Japan","institution_ids":["https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053973608","display_name":"Keisuke Yagi","orcid":"https://orcid.org/0000-0003-1843-829X"},"institutions":[{"id":"https://openalex.org/I6178835","display_name":"Ibaraki University","ror":"https://ror.org/00sjd5653","country_code":"JP","type":"education","lineage":["https://openalex.org/I6178835"]},{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Yagi","raw_affiliation_strings":["Domain of Mechanical Systems Engineering, Ibaraki University, Hitachi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Domain of Mechanical Systems Engineering, Ibaraki University, Hitachi, Japan","institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100607823","display_name":"Yuichi Mori","orcid":"https://orcid.org/0000-0003-2262-0334"},"institutions":[{"id":"https://openalex.org/I6178835","display_name":"Ibaraki University","ror":"https://ror.org/00sjd5653","country_code":"JP","type":"education","lineage":["https://openalex.org/I6178835"]},{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Mori","raw_affiliation_strings":["Domain of Mechanical Systems Engineering, Ibaraki University, Hitachi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Domain of Mechanical Systems Engineering, Ibaraki University, Hitachi, Japan","institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053973608"],"corresponding_institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"],"apc_list":null,"apc_paid":null,"fwci":0.1707,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.44222617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"34","issue":"10","first_page":"648","last_page":"660"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9933000206947327,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9746999740600586,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8885077238082886},{"id":"https://openalex.org/keywords/software-portability","display_name":"Software portability","score":0.6219764351844788},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6116538047790527},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.602249801158905},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5614141821861267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5529763102531433},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4631805717945099},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4555434584617615},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4497220814228058},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4226100444793701},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4051356613636017},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38469067215919495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3675030469894409},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.30526456236839294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2891732454299927},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.24654808640480042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12942788004875183}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8885077238082886},{"id":"https://openalex.org/C63000827","wikidata":"https://www.wikidata.org/wiki/Q3080428","display_name":"Software portability","level":2,"score":0.6219764351844788},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6116538047790527},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.602249801158905},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5614141821861267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5529763102531433},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4631805717945099},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4555434584617615},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4497220814228058},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4226100444793701},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4051356613636017},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38469067215919495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3675030469894409},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.30526456236839294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2891732454299927},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.24654808640480042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12942788004875183},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2020.1749725","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2020.1749725","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1516493184","https://openalex.org/W1564897360","https://openalex.org/W1830668663","https://openalex.org/W1879998433","https://openalex.org/W1967365365","https://openalex.org/W1972455516","https://openalex.org/W1987580649","https://openalex.org/W1989694300","https://openalex.org/W1993300073","https://openalex.org/W2036484113","https://openalex.org/W2086756762","https://openalex.org/W2099129715","https://openalex.org/W2142992961","https://openalex.org/W2144026911","https://openalex.org/W2295478923","https://openalex.org/W2565258066","https://openalex.org/W2991542025"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W2543019745","https://openalex.org/W3180160681","https://openalex.org/W1567230752","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W1600238263","https://openalex.org/W2356070666","https://openalex.org/W2540452882","https://openalex.org/W2778262232"],"abstract_inverted_index":{"The":[0,168],"efficacy":[1],"of":[2,12,69,82,96,104,128,132,138,157,177],"traveling":[3,90],"and":[4,50,80,118,144,166],"movement":[5,165],"is":[6,112,122,147],"substantially":[7],"enhanced":[8],"by":[9],"the":[10,36,51,59,67,70,78,83,92,94,102,105,126,139,150,155,158,172,175,182],"use":[11,68],"wheel":[13],"mechanisms,":[14],"particularly":[15],"when":[16],"compared":[17],"to":[18,114,124,163],"bipedal":[19],"locomotion.":[20],"Humanoid":[21],"locomotion":[22],"can":[23,53],"also":[24],"be":[25],"extended":[26],"using":[27,91,181],"appropriate":[28],"tools.":[29],"In":[30],"this":[31],"study,":[32],"we":[33],"focus":[34],"on":[35],"casterboard":[37,71,121],"as":[38,101,171],"a":[39,63,73,86,119,178],"tool":[40],"that":[41,77,149],"facilitates":[42],"traveling,":[43],"because":[44],"it":[45,146],"has":[46],"comparatively":[47],"high":[48],"portability,":[49],"rider":[52,84],"move":[54],"forward":[55,164],"without":[56,130],"pushing":[57],"off":[58],"ground.":[60],"We":[61],"present":[62],"dynamic":[64,140,151],"model":[65,152,169],"for":[66,136,174],"in":[72,89],"humanoid":[74],"robot.":[75],"Given":[76],"ankles":[79],"waist":[81],"play":[85],"key":[87],"role":[88],"casterboard,":[93],"angles":[95],"those":[97],"joints":[98],"are":[99],"utilized":[100],"input":[103],"proposed":[106],"model.":[107,141],"A":[108],"simplified":[109],"small-scale":[110],"robot":[111],"used":[113],"determine":[115],"essential":[116],"elements,":[117],"modified":[120],"employed":[123],"eliminate":[125],"risk":[127],"falling":[129],"loss":[131],"its":[133],"unique":[134],"properties,":[135],"verification":[137],"Using":[142],"simulations":[143],"experiments,":[145],"demonstrated":[148],"effectively":[153],"emulates":[154],"behavior":[156],"actual":[159],"setup":[160],"with":[161],"respect":[162],"turning.":[167],"serves":[170],"basis":[173],"planning":[176],"reference":[179],"trajectory":[180],"casterboard.":[183]},"counts_by_year":[{"year":2025,"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"}
