{"id":"https://openalex.org/W2045659809","doi":"https://doi.org/10.1109/icmech.2015.7084008","title":"Inverse kinematics with knee extension walking pattern for bipedal fast walking","display_name":"Inverse kinematics with knee extension walking pattern for bipedal fast walking","publication_year":2015,"publication_date":"2015-03-01","ids":{"openalex":"https://openalex.org/W2045659809","doi":"https://doi.org/10.1109/icmech.2015.7084008","mag":"2045659809"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2015.7084008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7084008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Mechatronics (ICM)","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/A5027673413","display_name":"Hirokazu Mori","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hirokazu Mori","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Gunnma, Japan","Department of Systems Life Engineering, Maebashi Institute of Technology., 460-1, Kamisadorimachi, Maebashi-shi, Gunnma, Japan 371-0816"],"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Gunnma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology., 460-1, Kamisadorimachi, Maebashi-shi, Gunnma, Japan 371-0816","institution_ids":["https://openalex.org/I153470267"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112316964","display_name":"Chi Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I153470267","display_name":"Maebashi Institute of Technology","ror":"https://ror.org/01x05rm94","country_code":"JP","type":"education","lineage":["https://openalex.org/I153470267"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Chi Zhu","raw_affiliation_strings":["Department of Systems Life Engineering, Maebashi Institute of Technology, Gunnma, Japan","Department of Systems Life Engineering, Maebashi Institute of Technology., 460-1, Kamisadorimachi, Maebashi-shi, Gunnma, Japan 371-0816"],"affiliations":[{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology, Gunnma, Japan","institution_ids":["https://openalex.org/I153470267"]},{"raw_affiliation_string":"Department of Systems Life Engineering, Maebashi Institute of Technology., 460-1, Kamisadorimachi, Maebashi-shi, Gunnma, Japan 371-0816","institution_ids":["https://openalex.org/I153470267"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027673413"],"corresponding_institution_ids":["https://openalex.org/I153470267"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05810453,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"392","last_page":"397"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.991100013256073,"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"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9764999747276306,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8417680859565735},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7649726867675781},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5981746315956116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5702514052391052},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5578427314758301},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.536865234375},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4898049533367157},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4650600552558899},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.41669604182243347},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4164283275604248},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3633159399032593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24366581439971924},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24166446924209595},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.12189778685569763},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10480707883834839},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.04816389083862305}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8417680859565735},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7649726867675781},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5981746315956116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5702514052391052},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5578427314758301},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.536865234375},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4898049533367157},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4650600552558899},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.41669604182243347},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4164283275604248},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3633159399032593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24366581439971924},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24166446924209595},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.12189778685569763},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10480707883834839},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.04816389083862305},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmech.2015.7084008","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2015.7084008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1513641378","https://openalex.org/W1551977735","https://openalex.org/W1558446093","https://openalex.org/W2015003349","https://openalex.org/W2087070363","https://openalex.org/W2123080523","https://openalex.org/W2138085575","https://openalex.org/W2144230201","https://openalex.org/W2159806973","https://openalex.org/W2165524167","https://openalex.org/W2168224515","https://openalex.org/W2256578114","https://openalex.org/W2314005313","https://openalex.org/W3168095073","https://openalex.org/W6633051818"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2218699221","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W2898458249","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2023253401"],"abstract_inverted_index":{"Up":[0],"so":[1],"far,":[2],"many":[3],"biped":[4,48,84],"robots":[5],"have":[6],"been":[7],"developed,":[8],"but":[9],"almost":[10],"all":[11],"of":[12,25,40,47,83],"their":[13,32],"walking":[14],"trajectories":[15],"are":[16],"not":[17,36],"to":[18,20,62],"try":[19],"extend":[21],"the":[22,26,41,44,64],"knee":[23,45,68],"joint":[24,46],"robot.":[27,85],"The":[28,74],"main":[29],"reason":[30],"is":[31,50,77],"inverse":[33,65],"kinematics":[34,66],"can":[35],"be":[37],"calculated":[38],"because":[39],"singularity":[42],"when":[43],"robot":[49],"completely":[51],"extended.":[52],"In":[53],"this":[54],"paper,":[55],"we":[56],"propose":[57],"a":[58,80],"non-linear":[59],"programming":[60],"approach":[61,76],"solve":[63],"with":[67],"extension":[69],"for":[70],"fast":[71],"bipedal":[72],"walking.":[73],"proposed":[75],"verified":[78],"by":[79],"3D":[81],"simulator":[82]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}