{"id":"https://openalex.org/W2138474370","doi":"https://doi.org/10.1109/icra.2011.5980182","title":"An empirical comparison of a free dynamics simulator “Open Dynamics Engine” with TITAN-VIII hardware torque/power measurements","display_name":"An empirical comparison of a free dynamics simulator “Open Dynamics Engine” with TITAN-VIII hardware torque/power measurements","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2138474370","doi":"https://doi.org/10.1109/icra.2011.5980182","mag":"2138474370"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Graduate School of Science and Engineering, Meguro, Tokyo, Japan","Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Graduate School of Science and Engineering, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037562263","display_name":"Keisuke Arikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I182069643","display_name":"Kanagawa Institute of Technology","ror":"https://ror.org/007gj5v75","country_code":"JP","type":"education","lineage":["https://openalex.org/I182069643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keisuke Arikawa","raw_affiliation_strings":["Department of Mechanical Engineering, Kanagawa Institute of Technology, Atsugi, Kanagawa, Japan","Department of Mechanical Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi 243-0292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kanagawa Institute of Technology, Atsugi, Kanagawa, Japan","institution_ids":["https://openalex.org/I182069643"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Kanagawa Institute of Technology, 1030 Shimo-Ogino, Atsugi 243-0292, Japan","institution_ids":["https://openalex.org/I182069643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Graduate School of Science and Engineering, Meguro, Tokyo, Japan","Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and AeroSpace Engineering, Tokyo Institute of Technology, Graduate School of Science and Engineering, Meguro, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechanical and Aerospace Engineering, Graduate School of Science and Engineering, Tokyo Institute of Technology, 2-12-1-I1-60 Ookayama, Meguro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2378,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.50413298,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1 ci2 6","issue":null,"first_page":"6065","last_page":"6070"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9962000250816345,"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":0.9904000163078308,"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/titan","display_name":"Titan (rocket family)","score":0.6604297161102295},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6460472941398621},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5445059537887573},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.519089937210083},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48561587929725647},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1918845772743225},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11287254095077515},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11228680610656738},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.0789041519165039}],"concepts":[{"id":"https://openalex.org/C50805821","wikidata":"https://www.wikidata.org/wiki/Q1136670","display_name":"Titan (rocket family)","level":2,"score":0.6604297161102295},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6460472941398621},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5445059537887573},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.519089937210083},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48561587929725647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1918845772743225},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11287254095077515},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11228680610656738},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0789041519165039},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980182","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980182","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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":6,"referenced_works":["https://openalex.org/W1643150164","https://openalex.org/W1979467869","https://openalex.org/W2102602081","https://openalex.org/W2125126454","https://openalex.org/W2126115129","https://openalex.org/W2137383316"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2408545863","https://openalex.org/W643179351","https://openalex.org/W2740469715","https://openalex.org/W2905265805","https://openalex.org/W2162805293","https://openalex.org/W2013629274","https://openalex.org/W3169395362","https://openalex.org/W2064207836"],"abstract_inverted_index":{"A":[0],"free":[1],"rigid":[2],"body":[3],"dynamics":[4],"simulator":[5,35,89],"\u201cOpen":[6],"Dynamics":[7],"Engine\u201d":[8],"is":[9,75],"empirically":[10],"compared":[11,37],"with":[12,43,95],"the":[13,29,34,58,88],"results":[14,55],"of":[15,61],"hardware":[16,44,92],"measurements":[17],"in":[18,69],"joint":[19,39,63,79],"torque/power":[20],"dimensions":[21],"for":[22],"a":[23,66],"quadruped":[24,30],"robot":[25,31],"\u201cTITAN-VIII\u201d.":[26],"We":[27],"developed":[28],"model":[32],"on":[33],"and":[36,41,85],"simulated":[38,62],"torques":[40,64],"powers":[42],"experiments":[45],"during":[46],"walking":[47,52],"which":[48],"takes":[49],"four":[50],"different":[51],"postures.":[53],"The":[54],"suggest":[56],"that":[57],"direct":[59],"acquisitions":[60],"include":[65],"large":[67],"latency":[68],"our":[70],"application":[71],"but":[72],"this":[73],"defect":[74],"avoidable":[76],"by":[77],"using":[78],"force":[80],"information.":[81],"Careful":[82],"parameter":[83],"settings":[84],"tunings":[86],"permit":[87],"to":[90],"match":[91],"experimental":[93],"data":[94],"sufficient":[96],"accuracy.":[97]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}