{"id":"https://openalex.org/W2535820625","doi":"https://doi.org/10.1109/icawst.2011.6163160","title":"Robustness of semi-passive dynamic walking models for steep slopes","display_name":"Robustness of semi-passive dynamic walking models for steep slopes","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2535820625","doi":"https://doi.org/10.1109/icawst.2011.6163160","mag":"2535820625"},"language":"en","primary_location":{"id":"doi:10.1109/icawst.2011.6163160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icawst.2011.6163160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 3rd International Conference on Awareness Science and Technology (iCAST)","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/A5112440481","display_name":"Kazuma Suzuki","orcid":null},"institutions":[{"id":"https://openalex.org/I141591182","display_name":"University of Aizu","ror":"https://ror.org/02pg0e883","country_code":"JP","type":"education","lineage":["https://openalex.org/I141591182"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazuma Suzuki","raw_affiliation_strings":["University of Aizu, Japan"],"affiliations":[{"raw_affiliation_string":"University of Aizu, Japan","institution_ids":["https://openalex.org/I141591182"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069456676","display_name":"Keitaro Naruse","orcid":"https://orcid.org/0000-0002-2029-2472"},"institutions":[{"id":"https://openalex.org/I141591182","display_name":"University of Aizu","ror":"https://ror.org/02pg0e883","country_code":"JP","type":"education","lineage":["https://openalex.org/I141591182"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keitaro Naruse","raw_affiliation_strings":["University of Aizu, Japan"],"affiliations":[{"raw_affiliation_string":"University of Aizu, Japan","institution_ids":["https://openalex.org/I141591182"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5112440481"],"corresponding_institution_ids":["https://openalex.org/I141591182"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.32761935,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":93},"biblio":{"volume":null,"issue":null,"first_page":"303","last_page":"308"},"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":0.9886999726295471,"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":0.9840999841690063,"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/robustness","display_name":"Robustness (evolution)","score":0.805465817451477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5101345181465149},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3345124125480652},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32848823070526123},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15267720818519592}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.805465817451477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5101345181465149},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3345124125480652},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32848823070526123},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15267720818519592},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icawst.2011.6163160","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icawst.2011.6163160","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 3rd International Conference on Awareness Science and Technology (iCAST)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2016102421","https://openalex.org/W2101044405","https://openalex.org/W2142798331","https://openalex.org/W2163668399","https://openalex.org/W2316841555","https://openalex.org/W2325558778","https://openalex.org/W2329193520","https://openalex.org/W2543249794"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2324615561","https://openalex.org/W2086120259","https://openalex.org/W2390279801","https://openalex.org/W2245170124","https://openalex.org/W2076393078","https://openalex.org/W2358668433","https://openalex.org/W3186982001","https://openalex.org/W1984402782"],"abstract_inverted_index":{"Passive":[0],"Dynamic":[1],"Walker":[2],"can":[3],"descend":[4],"a":[5,38],"shallow":[6],"slope":[7,101,113],"only":[8],"using":[9],"an":[10],"initial":[11],"velocity":[12],"and":[13,78,103],"the":[14,58,67,75,89,94,96,109,112],"gravity.":[15],"It":[16],"has":[17,30,72,105],"good":[18],"energy":[19],"efficiency":[20],"because":[21],"it":[22,29,34,104],"does":[23],"not":[24],"require":[25],"any":[26],"actuator.":[27],"However,":[28],"been":[31],"known":[32],"that":[33],"cannot":[35],"walk":[36],"on":[37,57],"steep":[39,59,100],"slope.":[40,60],"Controlled":[41],"walking":[42,56,102],"models,":[43],"called":[44],"\u201csemi-passive":[45],"dynamic":[46],"walkers\u201d":[47],"are":[48,85],"considered":[49],"in":[50],"this":[51],"research":[52],"to":[53,74,87,108],"accomplish":[54],"stable":[55],"The":[61],"experimental":[62],"model":[63,70,98],"is":[64,117],"defined":[65],"as":[66],"compass":[68],"shaped":[69],"which":[71],"control":[73],"hip":[76],"joint":[77],"ankle":[79],"joint.":[80],"Three":[81],"different":[82],"controlled":[83,97],"models":[84],"tested":[86],"investigate":[88],"characteristics":[90],"of":[91,111],"walking.":[92],"As":[93],"result":[95],"accomplishes":[99],"some":[106],"robustness":[107],"angle":[110],"if":[114],"sufficient":[115],"torque":[116],"added.":[118]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}