{"id":"https://openalex.org/W3085394347","doi":"https://doi.org/10.1109/access.2020.3023995","title":"Force-Sensor-Based Surface Recognition With Surface-Property-Dependent Walking-Speed Adjustment of Humanoid Robot","display_name":"Force-Sensor-Based Surface Recognition With Surface-Property-Dependent Walking-Speed Adjustment of Humanoid Robot","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3085394347","doi":"https://doi.org/10.1109/access.2020.3023995","mag":"3085394347"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3023995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3023995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09195819.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09195819.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008567256","display_name":"Sandip Bhattacharya","orcid":"https://orcid.org/0000-0002-3968-2681"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sandip Bhattacharya","raw_affiliation_strings":["HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"raw_orcid":"https://orcid.org/0000-0002-3968-2681","affiliations":[{"raw_affiliation_string":"HiSIM Research Center, Hiroshima University, Hiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003019532","display_name":"Aiwen Luo","orcid":"https://orcid.org/0000-0002-9158-8406"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]},{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Aiwen Luo","raw_affiliation_strings":["College of Information Science and Technology, Jinan University, Guangzhou, China","HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9158-8406","affiliations":[{"raw_affiliation_string":"College of Information Science and Technology, Jinan University, Guangzhou, China","institution_ids":["https://openalex.org/I159948400"]},{"raw_affiliation_string":"HiSIM Research Center, Hiroshima University, Hiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044668229","display_name":"S. Dutta","orcid":"https://orcid.org/0000-0002-5156-8531"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sunandan Dutta","raw_affiliation_strings":["HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"HiSIM Research Center, Hiroshima University, Hiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075171408","display_name":"M. Miura\u2013Mattausch","orcid":"https://orcid.org/0000-0002-9244-9539"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitiko Miura-Mattausch","raw_affiliation_strings":["HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9244-9539","affiliations":[{"raw_affiliation_string":"HiSIM Research Center, Hiroshima University, Hiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086404781","display_name":"Hans J\u00fcrgen Mattausch","orcid":"https://orcid.org/0000-0001-5712-1020"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hans Jurgen Mattausch","raw_affiliation_strings":["HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"raw_orcid":"https://orcid.org/0000-0001-5712-1020","affiliations":[{"raw_affiliation_string":"HiSIM Research Center, Hiroshima University, Hiroshima, Japan","institution_ids":["https://openalex.org/I113306721"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4357,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59025287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"169640","last_page":"169651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9993000030517578,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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":0.998199999332428,"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/computer-science","display_name":"Computer science","score":0.5632834434509277},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5577380061149597},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.540851891040802},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48292776942253113},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.46052086353302},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.4230457544326782},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.404946506023407}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5632834434509277},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5577380061149597},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.540851891040802},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48292776942253113},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.46052086353302},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.4230457544326782},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.404946506023407},{"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3023995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3023995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09195819.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9b4331d040a148cb8c018125e157200e","is_oa":true,"landing_page_url":"https://doaj.org/article/9b4331d040a148cb8c018125e157200e","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 169640-169651 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3023995","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3023995","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09195819.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.47999998927116394,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"},{"id":"https://openalex.org/F4320322166","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3085394347.pdf","grobid_xml":"https://content.openalex.org/works/W3085394347.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W1976723617","https://openalex.org/W1977753016","https://openalex.org/W1988763687","https://openalex.org/W2024158783","https://openalex.org/W2080421646","https://openalex.org/W2103639562","https://openalex.org/W2106526692","https://openalex.org/W2106863585","https://openalex.org/W2108265833","https://openalex.org/W2116310395","https://openalex.org/W2132089714","https://openalex.org/W2132244513","https://openalex.org/W2143152790","https://openalex.org/W2150364799","https://openalex.org/W2153043277","https://openalex.org/W2165619603","https://openalex.org/W2168162876","https://openalex.org/W2171130677","https://openalex.org/W2203260532","https://openalex.org/W2303829726","https://openalex.org/W2324604276","https://openalex.org/W2469817133","https://openalex.org/W2558169296","https://openalex.org/W2568924247","https://openalex.org/W2569327030","https://openalex.org/W2898051988","https://openalex.org/W2907013599","https://openalex.org/W2913856343","https://openalex.org/W2941835166","https://openalex.org/W2979754539","https://openalex.org/W2993353873","https://openalex.org/W3012225695"],"related_works":["https://openalex.org/W2347597433","https://openalex.org/W2389023277","https://openalex.org/W2562411628","https://openalex.org/W3034772098","https://openalex.org/W2100563491","https://openalex.org/W2124672917","https://openalex.org/W4289821489","https://openalex.org/W4297820790","https://openalex.org/W2333025614","https://openalex.org/W2388211622"],"abstract_inverted_index":{"We":[0,111],"report":[1],"the":[2,17,49,62,87,91,100,107,113,117,129,135,160,171,191,194,222,250],"development":[3,248],"of":[4,25,29,123,154,178,249,253],"a":[5,66,96,121],"biped-robot":[6],"system":[7,50],"with":[8,80,116,208,270],"real-time":[9,137],"surface":[10,173,195,273],"recognition":[11,54],"and":[12,42,65,94,120,255,265],"walking-speed":[13,76],"adjustment":[14,77],"to":[15,99,126,149,159,199,214,226,239,262],"control":[16,83],"robot":[18,63,101],"motion":[19],"during":[20,185],"walking":[21,108,138,156,186,267],"on":[22,70,134,187],"different":[23,152,162],"types":[24,28,153],"surfaces.":[26,163],"Four":[27],"test":[30,131],"surfaces":[31,132,228],"(i.e.":[32,103],"rough":[33],"foam":[34,37],"(RF),":[35],"smooth":[36,43],"(SF),":[38],"thin":[39],"carpet":[40],"(TC)":[41],"table":[44],"(ST))":[45],"are":[46,245],"considered":[47],"in":[48,176,259,268],"verification.":[51],"For":[52],"surface-property":[53],"we":[55],"use":[56],"ultra-thin-membrane":[57],"force":[58],"sensors,":[59],"mounted":[60],"under":[61],"feet,":[64],"classification":[67,92],"circuit,":[68,84],"implemented":[69,258],"an":[71,81],"Arduino":[72],"Uno":[73],"board.":[74],"The":[75,140,242],"is":[78,147,168],"performed":[79],"external":[82],"which":[85],"receives":[86],"surface-recognition":[88,180,254],"signal":[89,98],"from":[90,197,212,224,237],"circuit":[93],"sends":[95],"feedback":[97],"controller":[102],"RCB-4HV)":[104],"for":[105,247],"adjusting":[106],"speed":[109,210,235],"accordingly.":[110],"applied":[112],"nearest-neighbor-classification":[114],"algorithm":[115],"Euclidean-distance":[118],"measure":[119],"set":[122],"reference":[124,155],"data,":[125],"distinguish":[127],"between":[128],"four":[130,151,161],"based":[133],"robot's":[136],"pattern.":[139],"mean":[141],"absolute":[142],"value":[143],"(MAV)":[144],"feature":[145],"descriptor":[146],"used":[148],"generate":[150],"pattern,":[157],"corresponding":[158],"In":[164],"our":[165],"experiments":[166],"it":[167],"observed,":[169],"that":[170],"ST":[172],"performs":[174],"best":[175],"terms":[177],"average":[179],"latency":[181,204],"(SRL)":[182],"(~3.6":[183],"sec)":[184,207,233],"same":[188],"surface.":[189],"On":[190],"other":[192],"hand,":[193],"transition":[196,223],"TC":[198,227],"SF":[200,225],"showed":[201,229],"minimum":[202],"surface-transition":[203],"(STL)":[205],"(~8.2":[206],"correct":[209],"change":[211,236],"135":[213,240],"160":[215,238],"robot-motor-configuration":[216],"frames":[217],"per":[218],"stride":[219],"(frames/stride),":[220],"while":[221],"maximum":[230],"STL":[231],"(~11.6":[232],"including":[234],"frames/stride.":[241],"obtained":[243],"results":[244],"useful":[246],"next":[251],"generation":[252],"speed-adjustment":[256],"systems,":[257],"humanoid":[260],"robots":[261],"enable":[263],"balanced":[264],"stable":[266],"environments":[269],"multiple":[271],"changed":[272],"properties.":[274]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
