{"id":"https://openalex.org/W2010291530","doi":"https://doi.org/10.1109/icra.2013.6630789","title":"Vertical vibration suppression for a position controlled biped robot","display_name":"Vertical vibration suppression for a position controlled biped robot","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2010291530","doi":"https://doi.org/10.1109/icra.2013.6630789","mag":"2010291530"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","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/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":true,"raw_author_name":"Shuuji Kajita","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112430812","display_name":"Futoshi Asano","orcid":null},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Futoshi Asano","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109121543","display_name":"Mitsuharu Moriswa","orcid":null},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Mitsuharu Moriswa","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109094932","display_name":"Kanako Miura","orcid":null},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Kanako Miura","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Kenji Kaneko","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057476470","display_name":"Kazuhito Yokoi","orcid":"https://orcid.org/0000-0003-3942-2027"},"institutions":[{"id":"https://openalex.org/I66083562","display_name":"Systems Research Institute","ror":"https://ror.org/0111cp837","country_code":"PL","type":"facility","lineage":["https://openalex.org/I66083562","https://openalex.org/I99542240"]}],"countries":["PL"],"is_corresponding":false,"raw_author_name":"Kazuhito Yokoi","raw_affiliation_strings":["Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","Intell. Syst. Res. Inst., AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, AIST, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"Intell. Syst. Res. Inst., AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I66083562"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5102768470"],"corresponding_institution_ids":["https://openalex.org/I66083562"],"apc_list":null,"apc_paid":null,"fwci":0.39116382,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.63909712,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1637","last_page":"1642"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9897000193595886,"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/control-theory","display_name":"Control theory (sociology)","score":0.8313202857971191},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.7853889465332031},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6754602789878845},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.586542010307312},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.533049464225769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5181478261947632},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.5149258375167847},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5099955797195435},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42817339301109314},{"id":"https://openalex.org/keywords/feedback-controller","display_name":"Feedback controller","score":0.4143812954425812},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36621737480163574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16690018773078918},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13555315136909485},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1213034987449646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1074059009552002}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8313202857971191},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.7853889465332031},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6754602789878845},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.586542010307312},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.533049464225769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5181478261947632},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.5149258375167847},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5099955797195435},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42817339301109314},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.4143812954425812},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36621737480163574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16690018773078918},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13555315136909485},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1213034987449646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1074059009552002},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6630789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1987580649","https://openalex.org/W2037729465","https://openalex.org/W2046636826","https://openalex.org/W2089476757","https://openalex.org/W2108128471","https://openalex.org/W2120435658","https://openalex.org/W2135855117","https://openalex.org/W2144782780","https://openalex.org/W2145788561","https://openalex.org/W2161556708","https://openalex.org/W2166162370","https://openalex.org/W2745553815","https://openalex.org/W6676297898"],"related_works":["https://openalex.org/W1540273480","https://openalex.org/W1992292580","https://openalex.org/W2326791273","https://openalex.org/W2887661264","https://openalex.org/W2087206472","https://openalex.org/W4256132489","https://openalex.org/W169323572","https://openalex.org/W4293244606","https://openalex.org/W2617416814","https://openalex.org/W3192433325"],"abstract_inverted_index":{"A":[0],"controller":[1,37,53,64],"design":[2],"to":[3],"suppress":[4],"vertical":[5],"vibration":[6,21,52],"of":[7,19,27,47,62],"a":[8,25,45],"position":[9],"controlled":[10],"biped":[11],"walking":[12,58],"robot":[13],"is":[14,22,42,54,65],"presented.":[15],"The":[16,60],"system":[17],"model":[18],"structural":[20],"estimated":[23],"from":[24],"measurement":[26],"frequency":[28],"response.":[29],"By":[30],"using":[31],"the":[32,51],"model,":[33],"an":[34],"optimal":[35],"feedback":[36],"with":[38],"full":[39],"state":[40],"observer":[41],"designed.":[43],"With":[44],"consideration":[46],"leg":[48],"support":[49],"phase,":[50],"combined":[55],"into":[56],"our":[57,63],"controller.":[59],"effectiveness":[61],"experimentally":[66],"demonstrated.":[67]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}