{"id":"https://openalex.org/W3048166906","doi":"https://doi.org/10.1109/aim43001.2020.9158964","title":"Optimization and Comparison of Human and Avian Robotic Walking","display_name":"Optimization and Comparison of Human and Avian Robotic Walking","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048166906","doi":"https://doi.org/10.1109/aim43001.2020.9158964","mag":"3048166906"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5062774058","display_name":"Rodrigo Matos Carnier","orcid":"https://orcid.org/0000-0002-0843-3033"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rodrigo Matos Carnier","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Hodogaya-ku, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Hodogaya-ku, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026753908","display_name":"Yasutaka Fujimoto","orcid":"https://orcid.org/0000-0002-8106-5425"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasutaka Fujimoto","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Hodogaya-ku, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Hodogaya-ku, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":0.451,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.54282241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"295","issue":null,"first_page":"85","last_page":"90"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9968000054359436,"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":0.9965000152587891,"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/bipedalism","display_name":"Bipedalism","score":0.8167830109596252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6140231490135193},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5727477073669434},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5699678659439087},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.527367889881134},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43770262598991394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.41846737265586853},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.41407814621925354},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34266239404678345},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33319634199142456},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23755744099617004},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21138012409210205},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20139816403388977}],"concepts":[{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.8167830109596252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6140231490135193},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5727477073669434},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5699678659439087},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.527367889881134},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43770262598991394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.41846737265586853},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.41407814621925354},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34266239404678345},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33319634199142456},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23755744099617004},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21138012409210205},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20139816403388977},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim43001.2020.9158964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W176183034","https://openalex.org/W647566207","https://openalex.org/W1574514837","https://openalex.org/W2037729465","https://openalex.org/W2111034649","https://openalex.org/W2187565700","https://openalex.org/W2477476473","https://openalex.org/W2556468286","https://openalex.org/W2779285311","https://openalex.org/W2907710511","https://openalex.org/W2935901025"],"related_works":["https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W205041164","https://openalex.org/W2025415230","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2145765739","https://openalex.org/W2186177376","https://openalex.org/W2940850594"],"abstract_inverted_index":{"Robotic":[0],"bipedal":[1,40,61,70,73,86],"locomotion":[2,37],"is":[3,105],"not":[4],"developed":[5],"yet":[6],"to":[7,56,68,91,99,107],"the":[8,28,49,77,97,100,109],"level":[9],"of":[10,12,52,79,124,126,129,136,147],"performance":[11,93,138],"human":[13,53,69],"walking,":[14],"and":[15,45],"design":[16],"alternatives":[17],"are":[18,42],"being":[19,43],"pursued":[20],"so":[21],"that":[22],"current":[23],"state-of-art":[24],"robots":[25],"can":[26],"achieve":[27],"necessary":[29],"viability":[30],"for":[31,113,140],"commercial":[32],"application.":[33],"Even":[34],"though":[35],"different":[36,92,137],"morphologies":[38],"than":[39],"walking":[41,87],"studied":[44],"realized":[46],"into":[47,133],"prototypes,":[48],"evolutive":[50],"competitiveness":[51,78],"morphology":[54],"points":[55],"an":[57,66],"inherent":[58],"advantage":[59],"in":[60],"walking.":[62,74],"There":[63],"is,":[64],"however,":[65],"alternative":[67],"walking:":[71],"avian":[72],"To":[75,95],"understand":[76],"each,":[80],"this":[81],"study":[82,118,122],"compares":[83],"humanlike":[84],"robotic":[85],"with":[88,144],"avianlike,":[89],"according":[90],"criteria.":[94],"limit":[96],"comparison":[98,125,135],"physical":[101],"structure,":[102],"optimal":[103],"control":[104,112],"used":[106],"extract":[108],"most":[110],"efficient":[111],"each":[114],"optimization":[115],"criterion.":[116],"This":[117],"extends":[119],"our":[120],"previous":[121],"[1]":[123],"energy":[127],"consumption":[128],"single":[130],"leg":[131],"models":[132,143],"a":[134],"metrics":[139],"whole-body":[141],"planar":[142],"6":[145],"degrees":[146],"freedom.":[148]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
