{"id":"https://openalex.org/W3117065943","doi":"https://doi.org/10.1109/access.2020.3046279","title":"Energy Efficiency of Force-Sensor-Controlled Humanoid-Robot Walking on Indoor Surfaces","display_name":"Energy Efficiency of Force-Sensor-Controlled Humanoid-Robot Walking on Indoor Surfaces","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3117065943","doi":"https://doi.org/10.1109/access.2020.3046279","mag":"3117065943"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3046279","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3046279","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09301314.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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","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/ielx7/6287639/6514899/09301314.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":true,"raw_author_name":"Sandip Bhattacharya","raw_affiliation_strings":["HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"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/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"],"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/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]},{"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":["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"],"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/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"],"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/A5044273493","display_name":"Yoshihiro Ochi","orcid":"https://orcid.org/0000-0001-8882-5880"},"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":"Yoshihiro Ochi","raw_affiliation_strings":["HiSIM Research Center, Hiroshima University, Hiroshima, Japan"],"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"],"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":6,"corresponding_author_ids":["https://openalex.org/A5008567256"],"corresponding_institution_ids":["https://openalex.org/I113306721"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.1736,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.48523902,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"227100","last_page":"227112"},"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":0.996999979019165,"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":0.9954000115394592,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6321854591369629},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.6234363913536072},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5843188762664795},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.5649354457855225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5343306064605713},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.49838781356811523},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4779548645019531},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4605376720428467},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.45422935485839844},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.3919331133365631},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.217983216047287},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21684882044792175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21518626809120178},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20155343413352966}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6321854591369629},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.6234363913536072},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5843188762664795},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.5649354457855225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5343306064605713},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.49838781356811523},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4779548645019531},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4605376720428467},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.45422935485839844},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.3919331133365631},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.217983216047287},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21684882044792175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21518626809120178},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20155343413352966},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3046279","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3046279","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09301314.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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:2ab620b9e70048deb7210d604eac0312","is_oa":true,"landing_page_url":"https://doaj.org/article/2ab620b9e70048deb7210d604eac0312","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 227100-227112 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3046279","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3046279","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/6514899/09301314.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":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[{"id":"https://openalex.org/G12401395","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320320912","funder_display_name":"Ministry of Education, Culture, Sports, Science and Technology"}],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3117065943.pdf","grobid_xml":"https://content.openalex.org/works/W3117065943.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1482992573","https://openalex.org/W1968454322","https://openalex.org/W1981498112","https://openalex.org/W2000162505","https://openalex.org/W2009604835","https://openalex.org/W2035757418","https://openalex.org/W2036333842","https://openalex.org/W2036693362","https://openalex.org/W2057733592","https://openalex.org/W2105310890","https://openalex.org/W2118176425","https://openalex.org/W2120763584","https://openalex.org/W2125381034","https://openalex.org/W2126940339","https://openalex.org/W2133495469","https://openalex.org/W2136244995","https://openalex.org/W2142132924","https://openalex.org/W2145346511","https://openalex.org/W2156267490","https://openalex.org/W2159220301","https://openalex.org/W2166045965","https://openalex.org/W2166271005","https://openalex.org/W2171263295","https://openalex.org/W2339109933","https://openalex.org/W2561708991","https://openalex.org/W2911517398","https://openalex.org/W2944904986","https://openalex.org/W2979754539","https://openalex.org/W2998505862","https://openalex.org/W3006498685","https://openalex.org/W3009338905","https://openalex.org/W3050594648","https://openalex.org/W3085394347","https://openalex.org/W6659412158"],"related_works":["https://openalex.org/W2347597433","https://openalex.org/W2745063183","https://openalex.org/W2389023277","https://openalex.org/W2562411628","https://openalex.org/W3034772098","https://openalex.org/W2100563491","https://openalex.org/W4256317079","https://openalex.org/W2124672917","https://openalex.org/W179829755","https://openalex.org/W2287760937"],"abstract_inverted_index":{"We":[0],"report":[1],"an":[2,48],"energy-efficiency":[3],"analysis":[4],"for":[5,28,109,137,141,146,160,164,169,177,195,202,206,211,223,227,232,257,260,264,294],"the":[6,29,37,89,94,104,113,120,130,150,154,187,193,218,238,271,279,284],"walking":[7,19,22,41,59,68,84,191,244,287],"pattern":[8,85,273],"of":[9,134],"a":[10,178,275],"humanoid":[11,121],"robot":[12,38,95,105,122],"on":[13,129,153,192,217,248,252,274],"different":[14,18,58,67],"indoor":[15],"surfaces":[16,60,250],"with":[17,123],"speeds.":[20],"The":[21,83,289],"efficiency":[23,282],"is":[24,117,183,213,245,267],"measured":[25],"through":[26],"experiments":[27,235],"maximum":[30,132,151],"distance,":[31],"which":[32],"can":[33,127],"be":[34],"covered":[35,198],"by":[36,88],"following":[39],"specific":[40],"patterns.":[42],"For":[43],"this":[44],"purpose,":[45],"we":[46],"developed":[47],"energy-measurement-circuit":[49],"(EMC)":[50],"to":[51],"measure":[52],"power":[53],"and":[54,63,65,77,93,143,166,208,229,262],"energy":[55,175,188,239,281],"consumption.":[56],"Two":[57],"(i.e.":[61,70,97,199,220],"hard":[62,249,276],"soft-surfaces)":[64],"three":[66],"speeds":[69],"220":[71],"frames/stride":[72,75,79],"(slow-speed),":[73],"190":[74],"(medium-speed)":[76],"160":[78],"(fast-speed))":[80],"were":[81,107],"used.":[82],"was":[86],"generated":[87],"robot-operating-software":[90],"platform":[91],"(ROSP)":[92],"controller":[96],"RCB-4HV).":[98],"Pizo-resistive-membrane":[99],"force":[100],"sensors":[101],"(PRMFS)":[102],"below":[103],"feet":[106],"used":[108],"walking-pattern":[110,296],"recording.":[111],"From":[112],"measurement":[114],"data,":[115],"it":[116],"observed":[118],"that":[119,186,237,270],"one":[124],"battery":[125],"charge":[126],"cover":[128],"hard-surface":[131,194],"distances":[133,152],"67.3":[135],"m":[136,140,145,159,163,168],"slow-speed,":[138,161,203,224,258],"77.07":[139],"medium-speed":[142,165,207,228,261],"96.24":[144],"fast-speed.":[147,265],"In":[148],"comparison,":[149],"soft-surface":[155,219],"are":[156,292],"only":[157],"36.94":[158],"44.07":[162],"55.23":[167],"high-speed,":[170],"meaning":[171],"about":[172],"80%":[173],"higher":[174],"consumption":[176,189,240],"given":[179],"identical":[180],"distance.":[181],"It":[182,266],"also":[184],"observed,":[185],"during":[190,243],"1-meter":[196],"distance":[197],"181.19":[200],"J":[201,205,210,222,226,231],"171.13":[204],"166.68":[209],"fast-speed)":[212],"comparatively":[214],"lesser":[215],"than":[216,251],"365.78":[221],"325.23":[225],"310.15":[230],"fast-speed).":[233],"Our":[234],"show,":[236],"(in":[241],"%)":[242],"substantially":[246],"smaller":[247],"soft":[253],"surfaces,":[254],"namely,":[255],"50.46%":[256],"47.38%":[259],"46.25%":[263],"further":[268],"shown,":[269],"fast-speed-walking":[272],"surface":[277],"has":[278],"highest":[280],"among":[283],"six":[285],"analyzed":[286],"conditions.":[288],"obtained":[290],"results":[291],"useful":[293],"energy-efficient":[295],"recognition":[297],"in":[298],"future-generation":[299],"artificial-intelligence-enabled":[300],"humanoid-robot":[301],"design.":[302]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
