{"id":"https://openalex.org/W2168462160","doi":"https://doi.org/10.1109/ichr.2008.4755965","title":"A friction based &amp;#x201C;twirl&amp;#x201D; for biped robots","display_name":"A friction based &amp;#x201C;twirl&amp;#x201D; for biped robots","publication_year":2008,"publication_date":"2008-12-01","ids":{"openalex":"https://openalex.org/W2168462160","doi":"https://doi.org/10.1109/ichr.2008.4755965","mag":"2168462160"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2008.4755965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","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/A5026590065","display_name":"K. Miura","orcid":"https://orcid.org/0000-0002-5098-4410"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"K. Miura","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012117970","display_name":"Shin\u2019ichiro Nakaoka","orcid":"https://orcid.org/0000-0002-2346-1251"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Nakaoka","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Morisawa","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Harada","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kajita","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026590065"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":3.6333,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.92890481,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":null,"first_page":"279","last_page":"284"},"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":0.9617999792098999,"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":0.9531999826431274,"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/slipping","display_name":"Slipping","score":0.9071406126022339},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7851744294166565},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6910304427146912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6327915191650391},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5868532657623291},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5689510107040405},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4598013758659363},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4199994206428528},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3920620083808899},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34334516525268555},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2917795777320862},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21025168895721436},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07418510317802429}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.9071406126022339},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7851744294166565},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6910304427146912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6327915191650391},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5868532657623291},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5689510107040405},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4598013758659363},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4199994206428528},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3920620083808899},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34334516525268555},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2917795777320862},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21025168895721436},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07418510317802429},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2008.4755965","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755965","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1981425094","https://openalex.org/W2036484113","https://openalex.org/W2054797856","https://openalex.org/W2061147572","https://openalex.org/W2129963640","https://openalex.org/W2132030382","https://openalex.org/W2144086469","https://openalex.org/W2159767809","https://openalex.org/W2161439626","https://openalex.org/W2165673319"],"related_works":["https://openalex.org/W3141131632","https://openalex.org/W2084206618","https://openalex.org/W2161039994","https://openalex.org/W3167844684","https://openalex.org/W4386154653","https://openalex.org/W2800387041","https://openalex.org/W2837391606","https://openalex.org/W4389155065","https://openalex.org/W3110003679","https://openalex.org/W786435168"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"preliminary":[3],"results":[4],"on":[5,17,35],"generating":[6],"turning":[7,67],"motion":[8,29,38,68],"of":[9,60,74],"a":[10],"humanoid":[11,92],"robot":[12,93],"by":[13,22,32,71,79],"slipping":[14],"the":[15,18,24,53,58,63,66,72,76,91],"feet":[16,99],"ground.":[19],"We":[20],"start":[21],"presenting":[23],"fact":[25],"that":[26,65],"such":[27],"slip":[28,54,61,100],"is":[30,45,69,83,101],"used":[31],"humans":[33],"based":[34],"actual":[36],"human":[37],"capture":[39],"data,":[40],"and":[41,88],"show":[42],"how":[43],"this":[44],"necessary":[46],"for":[47],"sophisticated":[48],"human-like":[49],"motion.":[50],"To":[51],"generate":[52],"motion,":[55],"we":[56],"predict":[57],"amount":[59],"using":[62],"hypothesis":[64],"caused":[70],"effect":[73],"minimizing":[75],"power":[77],"generated":[78],"floor":[80],"friction.":[81],"Verification":[82],"conducted":[84],"through":[85],"both":[86,98],"simulation":[87],"experiment":[89],"with":[90],"HRP-2.":[94],"A":[95],"ldquotwirlrdquo":[96],"utilizing":[97],"successfully":[102],"demonstrated.":[103]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
