{"id":"https://openalex.org/W4394857056","doi":"https://doi.org/10.1080/01691864.2024.2336255","title":"Bipedal Robot running: human-like actuation timing using fast and slow adaptations","display_name":"Bipedal Robot running: human-like actuation timing using fast and slow adaptations","publication_year":2024,"publication_date":"2024-04-16","ids":{"openalex":"https://openalex.org/W4394857056","doi":"https://doi.org/10.1080/01691864.2024.2336255"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2024.2336255","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2336255","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/A5100999750","display_name":"Yusuke Sakurai","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yusuke Sakurai","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070094810","display_name":"Tomoya Kamimura","orcid":"https://orcid.org/0000-0001-5638-9113"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tomoya Kamimura","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100539256","display_name":"Yuki Sakamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuki Sakamoto","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048065743","display_name":"Shohei Nishii","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shohei Nishii","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109996589","display_name":"Kodai Sato","orcid":"https://orcid.org/0009-0003-7573-9547"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kodai Sato","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031586538","display_name":"Yuta Fujiwara","orcid":"https://orcid.org/0000-0001-6583-8830"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuta Fujiwara","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109992113","display_name":"Akihito SANO","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihito Sano","raw_affiliation_strings":["Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5070094810"],"corresponding_institution_ids":["https://openalex.org/I197274945"],"apc_list":null,"apc_paid":null,"fwci":0.9389,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70793457,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"38","issue":"8","first_page":"577","last_page":"588"},"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":0.9945999979972839,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9805999994277954,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/central-pattern-generator","display_name":"Central pattern generator","score":0.8278172612190247},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7088559865951538},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5845785140991211},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5581992864608765},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5563595294952393},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5474002957344055},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.539322555065155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5154460072517395},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.501091480255127},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.47750943899154663},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4693385660648346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32732027769088745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25659340620040894},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1774471402168274},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1386895477771759},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09373345971107483},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08894625306129456},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.08476468920707703},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07197305560112}],"concepts":[{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.8278172612190247},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7088559865951538},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5845785140991211},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5581992864608765},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5563595294952393},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5474002957344055},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.539322555065155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5154460072517395},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.501091480255127},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.47750943899154663},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4693385660648346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32732027769088745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25659340620040894},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1774471402168274},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1386895477771759},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09373345971107483},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08894625306129456},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.08476468920707703},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07197305560112},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2024.2336255","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2024.2336255","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/G2529789973","display_name":null,"funder_award_id":"JP22H01445","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"},{"id":"https://openalex.org/G3243214540","display_name":null,"funder_award_id":"JP21K14104","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W320846711","https://openalex.org/W1878048064","https://openalex.org/W1967900236","https://openalex.org/W1986255829","https://openalex.org/W1989796457","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2016102421","https://openalex.org/W2029058516","https://openalex.org/W2033226680","https://openalex.org/W2045012281","https://openalex.org/W2053589959","https://openalex.org/W2074563816","https://openalex.org/W2074686910","https://openalex.org/W2081450902","https://openalex.org/W2081700430","https://openalex.org/W2098424142","https://openalex.org/W2111636172","https://openalex.org/W2112349308","https://openalex.org/W2122059228","https://openalex.org/W2129224530","https://openalex.org/W2143314240","https://openalex.org/W2160740151","https://openalex.org/W2163668399","https://openalex.org/W2172221190","https://openalex.org/W2598773406","https://openalex.org/W2749701166","https://openalex.org/W2892891469","https://openalex.org/W2901138442","https://openalex.org/W2977641226","https://openalex.org/W3129256657","https://openalex.org/W3204535492","https://openalex.org/W4200324510","https://openalex.org/W4206009461","https://openalex.org/W4309323738","https://openalex.org/W4322744893","https://openalex.org/W4383108187","https://openalex.org/W4383109348","https://openalex.org/W4387080564"],"related_works":["https://openalex.org/W4390693411","https://openalex.org/W1516183183","https://openalex.org/W2088984699","https://openalex.org/W2080439181","https://openalex.org/W2054715726","https://openalex.org/W344367065","https://openalex.org/W2517959777","https://openalex.org/W2186459124","https://openalex.org/W2125177287","https://openalex.org/W2544391081"],"abstract_inverted_index":{"We":[0],"have":[1],"been":[2],"developing":[3],"human-sized":[4],"biped":[5],"robots":[6],"based":[7],"on":[8],"passive":[9],"dynamic":[10],"mechanisms.":[11],"In":[12,45],"human":[13,82,123],"locomotion,":[14],"the":[15,19,24,42,81,89,111,115,118],"muscles":[16],"activate":[17],"at":[18],"same":[20],"rate":[21],"relative":[22],"to":[23,40,60,114],"gait":[25],"cycle":[26],"during":[27],"running.":[28,106,124],"To":[29],"achieve":[30,61],"adaptive":[31],"running":[32,63],"for":[33],"robots,":[34],"such":[35],"characteristics":[36],"should":[37],"be":[38],"reproduced":[39],"yield":[41],"desired":[43],"effect,":[44],"this":[46],"study,":[47],"we":[48],"designed":[49],"a":[50,65],"central":[51],"pattern":[52],"generator":[53],"(CPG)":[54],"involving":[55],"fast":[56,93],"and":[57,69,94,97],"slow":[58,95],"adaptation":[59],"human-like":[62,105],"using":[64],"simple":[66],"spring-mass":[67],"model":[68],"our":[70],"developed":[71],"bipedal":[72],"robot,":[73],"which":[74],"is":[75],"equipped":[76],"with":[77,92],"actuators":[78],"that":[79,88,110],"imitate":[80],"musculoskeletal":[83],"system.":[84],"Our":[85],"results":[86,108],"demonstrate":[87],"CPG-based":[90],"controller":[91],"adaptations,":[96],"an":[98],"adjustable":[99],"actuator":[100],"control":[101],"timing":[102,121],"can":[103],"reproduce":[104],"The":[107],"suggest":[109],"CPG":[112],"contributes":[113],"adjustment":[116],"of":[117],"muscle":[119],"activation":[120],"in":[122]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}