{"id":"https://openalex.org/W2082847333","doi":"https://doi.org/10.1109/amc.2012.6197034","title":"Verification of biped robot using point-contact type foot with springs for walking on rough terrain","display_name":"Verification of biped robot using point-contact type foot with springs for walking on rough terrain","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W2082847333","doi":"https://doi.org/10.1109/amc.2012.6197034","mag":"2082847333"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","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/A5006390702","display_name":"Moyuru Yamada","orcid":"https://orcid.org/0009-0009-1907-7503"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Moyuru Yamada","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi, 441-8580, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi, 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110704871","display_name":"Shigenori Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigenori Sano","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi, 441-8580, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi, 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Uchiyama","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi, 441-8580, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi, 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I136259955"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9986000061035156,"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":0.9986000061035156,"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/T14335","display_name":"Educational Robotics and Engineering","score":0.9556999802589417,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.908639132976532},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7219059467315674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5971766710281372},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5369218587875366},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.510784387588501},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4830108880996704},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4790309965610504},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.461503803730011},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.4614623188972473},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42349621653556824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.415929913520813},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3623068332672119},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16712889075279236},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13872241973876953},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09652921557426453},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07007348537445068}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.908639132976532},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7219059467315674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5971766710281372},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5369218587875366},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.510784387588501},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4830108880996704},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4790309965610504},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.461503803730011},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.4614623188972473},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42349621653556824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.415929913520813},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3623068332672119},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16712889075279236},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13872241973876953},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09652921557426453},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07007348537445068},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2012.6197034","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197034","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2903025760","https://openalex.org/W2018658498"],"abstract_inverted_index":{"This":[0],"study":[1],"introduces":[2],"a":[3,8,17,62,89,108,121],"biped":[4,35,127],"robot":[5,128],"designed":[6],"with":[7,12,55],"point-contact":[9],"type":[10],"foot":[11,64,85,90],"springs":[13],"(PCFS)":[14],"and":[15,46,80,92,102,129],"proposes":[16],"control":[18],"method":[19,136],"for":[20,111,125],"stable":[21,27],"walking":[22,28,123],"on":[23,29,51,76],"rough":[24,30,52,113],"terrain.":[25,114],"Realizing":[26],"terrain":[31,57],"is":[32,61],"important":[33],"because":[34],"robots":[36],"are":[37],"expected":[38],"to":[39,96],"assist":[40],"humans":[41],"not":[42],"only":[43],"in":[44,69,94],"flat":[45],"known":[47],"environments":[48],"but":[49],"also":[50,119],"ground":[53,78,104],"surfaces":[54,79],"unknown":[56],"variances.":[58],"The":[59],"PCFS":[60],"new":[63],"system":[65],"that":[66],"was":[67],"proposed":[68,107,135],"our":[70],"previous":[71],"study,":[72,117],"which":[73],"realizes":[74],"stability":[75],"complex":[77],"suppresses":[81],"impact":[82],"force":[83],"during":[84],"landing.":[86],"To":[87],"adjust":[88],"position":[91],"posture":[93],"response":[95],"the":[97,100,126,131,134],"declination":[98],"between":[99],"predicted":[101],"actual":[103],"surfaces,":[105],"we":[106,118],"landing":[109],"controller":[110],"uncertain":[112],"In":[115],"this":[116],"propose":[120],"dynamic":[122],"pattern":[124],"demonstrate":[130],"effectiveness":[132],"of":[133],"via":[137],"simulation":[138],"results.":[139]},"counts_by_year":[{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
