{"id":"https://openalex.org/W1999767221","doi":"https://doi.org/10.1109/amc.2010.5464063","title":"A method of adapting motion to depressed environment for biped robot","display_name":"A method of adapting motion to depressed environment for biped robot","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W1999767221","doi":"https://doi.org/10.1109/amc.2010.5464063","mag":"1999767221"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-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/A5086032128","display_name":"Kei Mikami","orcid":"https://orcid.org/0000-0001-8791-9607"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kei Mikami","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5086032128"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09096603,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2009","issue":null,"first_page":"595","last_page":"600"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9972000122070312,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9907000064849854,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7673852443695068},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6800802946090698},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.604873776435852},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5873845219612122},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5750136375427246},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4965396523475647},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4247703552246094},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3678531050682068},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.283491313457489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27919238805770874},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.24055829644203186},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.16017809510231018},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07837164402008057}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7673852443695068},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6800802946090698},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.604873776435852},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5873845219612122},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5750136375427246},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4965396523475647},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4247703552246094},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3678531050682068},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.283491313457489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27919238805770874},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.24055829644203186},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16017809510231018},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07837164402008057}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464063","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464063","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6899999976158142,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1566268871","https://openalex.org/W2011961034","https://openalex.org/W2016877289","https://openalex.org/W2036484113","https://openalex.org/W2096323098","https://openalex.org/W2107726786","https://openalex.org/W2117031920","https://openalex.org/W2118647964","https://openalex.org/W2120625568","https://openalex.org/W2135018749","https://openalex.org/W2149458524","https://openalex.org/W2164681577","https://openalex.org/W2315835881","https://openalex.org/W2336772958","https://openalex.org/W4242059591","https://openalex.org/W6653376254","https://openalex.org/W6676135069"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W34871393","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W842509023","https://openalex.org/W2140963565","https://openalex.org/W2998395214"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"adapting":[3,102],"motion":[4,103],"of":[5,57,110,117,146],"a":[6],"biped":[7,13,67],"robot.":[8],"In":[9,38],"some":[10],"cases":[11],"that":[12],"robots":[14,20],"walk":[15],"in":[16,88,136],"human":[17],"environment,":[18,28],"the":[19,41,71,81,89,94,105,111,115,121,129,137,144,147],"encounter":[21],"non-flat":[22,78],"surfaces.":[23,79],"To":[24],"adapt":[25,76],"to":[26,32,77,104,120],"such":[27],"it":[29],"is":[30,44,85,132],"necessary":[31],"get":[33],"environmental":[34,42,54,72,95,130],"information":[35,43],"by":[36],"sensors.":[37],"this":[39,98],"paper,":[40],"transformed":[45],"into":[46],"useful":[47],"structure,":[48],"defined":[49],"as":[50],"\u00bfenvironmental":[51],"modes\u00bf.":[52],"The":[53,124,140],"modes":[55,131],"consist":[56],"four":[58],"modes;":[59],"heaving,":[60],"rolling,":[61],"pitching,":[62],"and":[63,134],"twisting.":[64],"By":[65],"controlling":[66,93,128],"robots,":[68],"based":[69],"on":[70,92,101,127],"modes,":[73],"they":[74],"can":[75],"However,":[80],"environment":[82],"with":[83],"depressions":[84,118],"not":[86],"considered":[87],"conventional":[90,125],"studies":[91],"modes.":[96],"Therefore,":[97],"research":[99],"focuses":[100],"depressed":[106],"environment.":[107],"A":[108],"tip":[109],"swing":[112],"leg":[113],"reached":[114],"bottom":[116],"according":[119],"heaving":[122],"mode.":[123],"study":[126],"introduced":[133],"extended":[135],"proposed":[138,148],"method.":[139,149],"experimental":[141],"results":[142],"showed":[143],"validity":[145]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
