{"id":"https://openalex.org/W2570623655","doi":"https://doi.org/10.1109/humanoids.2016.7803374","title":"Online master-slave footstep control for dynamical human-robot synchronization with wearable sole sensor","display_name":"Online master-slave footstep control for dynamical human-robot synchronization with wearable sole sensor","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2570623655","doi":"https://doi.org/10.1109/humanoids.2016.7803374","mag":"2570623655"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","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/A5030955211","display_name":"Yasuhiro Ishiguro","orcid":"https://orcid.org/0000-0003-3798-7366"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yasuhiro Ishiguro","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056267728","display_name":"Tatsuya Ishikawa","orcid":"https://orcid.org/0000-0002-0608-6752"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Ishikawa","raw_affiliation_strings":["Tokyo Daigaku, Bunkyo-ku, Tokyo, JP"],"affiliations":[{"raw_affiliation_string":"Tokyo Daigaku, Bunkyo-ku, Tokyo, JP","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072306746","display_name":"Kunio Kojima","orcid":"https://orcid.org/0000-0003-2198-8591"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kunio Kojima","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091784384","display_name":"Fumihito Sugai","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihito Sugai","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102253148","display_name":"Shunichi Nozawa","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunichi Nozawa","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112241257","display_name":"Yohei Kakiuchi","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yohei Kakiuchi","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kei Okada","raw_affiliation_strings":["Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Inaba","raw_affiliation_strings":["Tokyo Daigaku, Bunkyo-ku, Tokyo, JP"],"affiliations":[{"raw_affiliation_string":"Tokyo Daigaku, Bunkyo-ku, Tokyo, JP","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5030955211"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.5779,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.83328416,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"2016","issue":null,"first_page":"864","last_page":"869"},"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":0.9926000237464905,"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":0.9891999959945679,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8906367421150208},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6103604435920715},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6080855131149292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5491467118263245},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5411157011985779},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.526710569858551},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4515399932861328},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.44643697142601013},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41942405700683594},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39776933193206787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38916176557540894},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37599417567253113},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37426862120628357},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36156994104385376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35721030831336975},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29992473125457764},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.11055582761764526},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.0801762044429779}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8906367421150208},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6103604435920715},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6080855131149292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5491467118263245},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5411157011985779},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.526710569858551},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4515399932861328},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.44643697142601013},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41942405700683594},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39776933193206787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38916176557540894},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37599417567253113},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37426862120628357},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36156994104385376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35721030831336975},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29992473125457764},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.11055582761764526},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0801762044429779},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803374","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"mag:2750914338","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702275368240715","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W89513112","https://openalex.org/W135960858","https://openalex.org/W1494650646","https://openalex.org/W1987580649","https://openalex.org/W2045319596","https://openalex.org/W2062127963","https://openalex.org/W2067394231","https://openalex.org/W2106621510","https://openalex.org/W2109026728","https://openalex.org/W2118840382","https://openalex.org/W2133859362","https://openalex.org/W2142127682","https://openalex.org/W2147013528","https://openalex.org/W2151003079","https://openalex.org/W2198839866","https://openalex.org/W2214607041","https://openalex.org/W2221569889","https://openalex.org/W7033823516"],"related_works":["https://openalex.org/W1859914877","https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320","https://openalex.org/W1886477626"],"abstract_inverted_index":{"In":[0,58],"this":[1],"study,":[2],"the":[3,10,22,26,30,35,61,94,98,108],"authors":[4,23,43,62,109],"aim":[5],"to":[6,111],"let":[7],"us":[8],"control":[9,28,84,112],"whole":[11],"body":[12],"of":[13,29,104],"humanoid":[14,31,40,52],"robot":[15,67,83],"dynamically":[16],"as":[17,68],"we":[18],"want.":[19],"For":[20],"that,":[21],"focused":[24],"on":[25],"direct":[27],"leg":[32],"that":[33,59,115],"is":[34],"most":[36],"severe":[37],"problem":[38],"with":[39,53],"tele-operation.":[41],"The":[42,86],"implemented":[44],"online":[45],"real-time":[46],"human":[47],"motion":[48],"imitation":[49],"system":[50,87],"for":[51,82],"its":[54],"dynamics":[55],"influence":[56],"considered.":[57],"system,":[60],"assume":[63],"both":[64,79],"operator":[65],"and":[66,73,78,97],"a":[69],"linear":[70],"inverted":[71],"pendulum,":[72],"apply":[74],"human's":[75,105],"COM,":[76],"ZMP,":[77],"feet":[80],"positions":[81],"input.":[85],"includes":[88],"two":[89,113],"6-axis":[90],"force":[91],"sensor":[92],"under":[93],"operator's":[95],"sole,":[96],"sensors":[99],"can":[100],"precisely":[101],"detect":[102],"contact":[103],"sole.":[106],"Finally":[107],"succeeded":[110],"robots":[114],"have":[116],"different":[117],"COM":[118],"height":[119],"configuration.":[120]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
