{"id":"https://openalex.org/W2569445514","doi":"https://doi.org/10.1109/humanoids.2016.7803433","title":"Crawling gait for four-limbed robot and simulation on uneven terrain","display_name":"Crawling gait for four-limbed robot and simulation on uneven terrain","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2569445514","doi":"https://doi.org/10.1109/humanoids.2016.7803433","mag":"2569445514"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803433","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/A5102366088","display_name":"Takashi Matsuzawa","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takashi Matsuzawa","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030666649","display_name":"Ayanori Koizumi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ayanori Koizumi","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020381885","display_name":"Xiao Sun","orcid":"https://orcid.org/0000-0002-3674-9422"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xiao Sun","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059188638","display_name":"Shinya Hamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinya Hamamoto","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026819879","display_name":"Tomotaka Teramachi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomotaka Teramachi","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080702325","display_name":"Shunsuke Kimura","orcid":"https://orcid.org/0000-0001-9408-2884"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shunsuke Kimura","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112328652","display_name":"Nobuaki Sakai","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nobuaki Sakai","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5102366088"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":1.7094,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.84291728,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1270","last_page":"1275"},"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":0.993399977684021,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9832000136375427,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.9693174362182617},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8307837247848511},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7624654769897461},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5973349213600159},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5452017784118652},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5171396136283875},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48657405376434326},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45108187198638916},{"id":"https://openalex.org/keywords/web-crawler","display_name":"Web crawler","score":0.44783878326416016},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43736347556114197},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3962985873222351},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34471356868743896},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1385411024093628},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12269413471221924},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07372614741325378}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9693174362182617},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8307837247848511},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7624654769897461},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5973349213600159},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5452017784118652},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5171396136283875},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48657405376434326},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45108187198638916},{"id":"https://openalex.org/C13743948","wikidata":"https://www.wikidata.org/wiki/Q45842","display_name":"Web crawler","level":2,"score":0.44783878326416016},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43736347556114197},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3962985873222351},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34471356868743896},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1385411024093628},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12269413471221924},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07372614741325378},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2016.7803433","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803433","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1492794416","https://openalex.org/W1511205160","https://openalex.org/W1951089663","https://openalex.org/W2006069140","https://openalex.org/W2037011962","https://openalex.org/W2064171812","https://openalex.org/W2103427741","https://openalex.org/W2105610112","https://openalex.org/W2138396958","https://openalex.org/W2202612703","https://openalex.org/W2202725678","https://openalex.org/W2211080258","https://openalex.org/W2506598614","https://openalex.org/W2514192476","https://openalex.org/W2737523026","https://openalex.org/W6630478358"],"related_works":["https://openalex.org/W2566658409","https://openalex.org/W3119324922","https://openalex.org/W2352686120","https://openalex.org/W2372594123","https://openalex.org/W2358310581","https://openalex.org/W2964752624","https://openalex.org/W2026132847","https://openalex.org/W4385695127","https://openalex.org/W2137810919","https://openalex.org/W4255854114"],"abstract_inverted_index":{"Crawling":[0],"motion":[1,35,43,46,55],"by":[2],"a":[3,14,22,50,80,95],"robot":[4,97,133],"is":[5,39,56],"effective":[6],"for":[7,52,58,69],"reducing":[8],"shock":[9],"in":[10,79,108],"the":[11,19,31,63,66,84,106,112,124],"case":[12],"of":[13,21,33,65,130],"fall.":[15],"It":[16],"thus":[17],"decreases":[18],"possibility":[20],"locomotion":[23,70,109,117,129],"malfunction":[24],"on":[25,36,71,134],"uneven":[26,37,72,135],"terrain.":[27,136],"In":[28],"this":[29],"paper,":[30],"control":[32],"crawling":[34,42,54,85],"terrain":[38],"described.":[40],"Firstly,":[41],"and":[44,83,115],"detailed":[45],"are":[47],"explained.":[48],"Then,":[49],"method":[51,68,86,114,126],"controlling":[53],"outlined":[57],"its":[59],"realization.":[60],"To":[61],"verify":[62,105],"effectiveness":[64],"proposed":[67,113,125],"terrain,":[73],"rough":[74],"rubble":[75],"ground":[76],"was":[77,87,98,102],"generated":[78],"dynamics":[81],"simulator":[82],"applied":[88],"to":[89,104],"our":[90,131],"developed":[91],"four-limbed":[92,132],"robot.":[93],"Additionally,":[94],"crawler":[96],"generated.":[99],"A":[100],"comparison":[101],"conducted":[103],"difference":[107],"capabilities":[110],"between":[111],"other":[116],"styles.":[118],"The":[119],"simulation":[120],"results":[121],"confirmed":[122],"that":[123],"enabled":[127],"successful":[128]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}