{"id":"https://openalex.org/W2022050287","doi":"https://doi.org/10.1109/humanoids.2014.7041427","title":"Limit cycle walking of underactuated bipedal humanoid on slippery road surface","display_name":"Limit cycle walking of underactuated bipedal humanoid on slippery road surface","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2022050287","doi":"https://doi.org/10.1109/humanoids.2014.7041427","mag":"2022050287"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5008342125","display_name":"Xuan Xiao","orcid":"https://orcid.org/0000-0003-3230-0086"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xuan Xiao","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089766527","display_name":"Yasunori Kikuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasunori Kikuchi","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109059722","display_name":"Tetsuro Fujimoto","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuro Fujimoto","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I177738480"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"622","last_page":"627"},"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":0.9908000230789185,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9781000018119812,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6704047322273254},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.6578855514526367},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.6366677284240723},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6342020034790039},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6246824264526367},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5792214274406433},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.5315584540367126},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.525151252746582},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4857769310474396},{"id":"https://openalex.org/keywords/upper-and-lower-bounds","display_name":"Upper and lower bounds","score":0.4468468725681305},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.43157997727394104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3642772138118744},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.253475159406662},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20299562811851501},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18699851632118225},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13458138704299927},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.12016952037811279},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11467218399047852},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09279853105545044}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6704047322273254},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.6578855514526367},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.6366677284240723},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6342020034790039},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6246824264526367},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5792214274406433},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.5315584540367126},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.525151252746582},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4857769310474396},{"id":"https://openalex.org/C77553402","wikidata":"https://www.wikidata.org/wiki/Q13222579","display_name":"Upper and lower bounds","level":2,"score":0.4468468725681305},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.43157997727394104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3642772138118744},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.253475159406662},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20299562811851501},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18699851632118225},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13458138704299927},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.12016952037811279},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11467218399047852},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09279853105545044},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041427","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041427","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7200000286102295,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1978999578","https://openalex.org/W2003657859","https://openalex.org/W2005414837","https://openalex.org/W2036736645","https://openalex.org/W2101044405","https://openalex.org/W2102911553","https://openalex.org/W2132030382","https://openalex.org/W2137547873","https://openalex.org/W2152689441"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W2130288220","https://openalex.org/W1973997235","https://openalex.org/W2952578757","https://openalex.org/W2587293874"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,19,61,68,73,76],"possibility":[4],"and":[5,84],"fundamental":[6],"properties":[7,70],"of":[8,22],"limit":[9],"cycle":[10],"walking":[11],"on":[12,36],"slippery":[13],"road":[14],"surface.":[15],"First,":[16],"we":[17,40,66],"develop":[18],"mathematical":[20],"model":[21],"a":[23,55],"planar":[24],"underactauted":[25],"biped":[26],"robot":[27],"with":[28],"an":[29],"upper":[30,86],"body":[31,87],"that":[32,46],"walks":[33],"while":[34],"sliding":[35,81],"oily/ice":[37],"floor.":[38],"Second,":[39],"conduct":[41],"numerical":[42],"simulations":[43],"to":[44,60,72],"show":[45],"stable":[47],"gait":[48,69],"generation":[49],"can":[50],"be":[51],"achieved":[52],"by":[53],"applying":[54],"simple":[56],"output":[57],"following":[58],"control":[59],"relative":[62],"joint":[63],"angles.":[64],"Furthermore,":[65],"analyze":[67],"according":[71],"change":[74],"in":[75],"system":[77],"parameters":[78],"such":[79],"as":[80],"friction":[82],"coefficient":[83],"desired":[85],"angle.":[88]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}