{"id":"https://openalex.org/W1512450792","doi":"https://doi.org/10.1109/icra.2015.7139997","title":"Optimal use of arm-swing for bipedal walking control","display_name":"Optimal use of arm-swing for bipedal walking control","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1512450792","doi":"https://doi.org/10.1109/icra.2015.7139997","mag":"1512450792"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139997","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 Robotics and Automation (ICRA)","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/A5051304187","display_name":"Taisuke Kobayashi","orcid":"https://orcid.org/0000-0002-3760-249X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Taisuke Kobayashi","raw_affiliation_strings":["Nagoya Daigaku, Nagoya, Aichi, JP","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"affiliations":[{"raw_affiliation_string":"Nagoya Daigaku, Nagoya, Aichi, JP","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111494045","display_name":"Kosuke Sekiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kosuke Sekiyama","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, Nagoya University, Chikusa-ku, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Chikusa-ku, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089806952","display_name":"Tadayoshi Aoyama","orcid":"https://orcid.org/0000-0001-7860-0725"},"institutions":[{"id":"https://openalex.org/I113306721","display_name":"Hiroshima University","ror":"https://ror.org/03t78wx29","country_code":"JP","type":"education","lineage":["https://openalex.org/I113306721"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadayoshi Aoyama","raw_affiliation_strings":["Department of System Cybernetetics, Hiroshima University, Japan"],"affiliations":[{"raw_affiliation_string":"Department of System Cybernetetics, Hiroshima University, Japan","institution_ids":["https://openalex.org/I113306721"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, Nagoya University, Chikusa-ku, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Chikusa-ku, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I96636082","display_name":"Meijo University","ror":"https://ror.org/04h42fc75","country_code":"JP","type":"education","lineage":["https://openalex.org/I96636082"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Faculty of Science and Engineering, Beijing Institute of Technology, Japan, China","[Faculty of Science and Engineering, Meijo University, Japan]"],"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Beijing Institute of Technology, Japan, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Faculty of Science and Engineering, Meijo University, Japan]","institution_ids":["https://openalex.org/I96636082"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5051304187"],"corresponding_institution_ids":["https://openalex.org/I60134161"],"apc_list":null,"apc_paid":null,"fwci":0.5311,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65752297,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"307","issue":null,"first_page":"5698","last_page":"5703"},"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":0.9944999814033508,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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/swing","display_name":"Swing","score":0.8761625289916992},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7700554132461548},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.7667649984359741},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7602962851524353},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5785739421844482},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5443148612976074},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5411938428878784},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5162341594696045},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4980955123901367},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4906555712223053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3918726444244385},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26592907309532166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2590498924255371},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22981277108192444},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1362348198890686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09920540452003479},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09209707379341125},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06560814380645752}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.8761625289916992},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7700554132461548},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.7667649984359741},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7602962851524353},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5785739421844482},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5443148612976074},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5411938428878784},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5162341594696045},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4980955123901367},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4906555712223053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3918726444244385},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26592907309532166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2590498924255371},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22981277108192444},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1362348198890686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09920540452003479},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09209707379341125},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06560814380645752},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139997","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139997","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1492366767","https://openalex.org/W1993474705","https://openalex.org/W2002803749","https://openalex.org/W2015020516","https://openalex.org/W2026667632","https://openalex.org/W2029058516","https://openalex.org/W2040094057","https://openalex.org/W2049215078","https://openalex.org/W2088677124","https://openalex.org/W2091338274","https://openalex.org/W2099129715","https://openalex.org/W2123719714","https://openalex.org/W2139452738","https://openalex.org/W2170163952","https://openalex.org/W2503204573","https://openalex.org/W2983916874","https://openalex.org/W3145941942","https://openalex.org/W6629310206","https://openalex.org/W6673095755","https://openalex.org/W6680565770"],"related_works":["https://openalex.org/W2614575562","https://openalex.org/W1988603010","https://openalex.org/W2898815460","https://openalex.org/W2372645633","https://openalex.org/W4302290647","https://openalex.org/W2689391174","https://openalex.org/W2319797310","https://openalex.org/W2698593353","https://openalex.org/W2997045072","https://openalex.org/W2047733616"],"abstract_inverted_index":{"Walking":[0],"capability":[1,32],"composed":[2],"of":[3,9,17,23,72,75,114,135,155,174],"stability":[4,48,80,168],"and":[5,49,81,106,117,157],"efficiency":[6,50,164],"is":[7,26],"one":[8],"the":[10,15,24,30,34,37,47,58,66,70,73,82,90,121,136,148,153,163,167,172,175],"most":[11],"important":[12],"issues":[13],"in":[14,120,131,169],"field":[16],"humanoid":[18],"robots.":[19],"An":[20],"effective":[21],"swing":[22],"arms":[25],"expected":[27],"to":[28,45],"enhance":[29,46],"walking":[31,59],"under":[33],"constraints":[35],"from":[36],"limited":[38],"body.":[39],"We":[40],"propose":[41],"an":[42,102,111],"arm-swing":[43,54,85],"method":[44],"by":[51,126,140,151],"selecting":[52],"optimal":[53,67,137],"strategy":[55,68],"depending":[56],"on":[57],"conditions.":[60],"In":[61],"this":[62,132],"research,":[63],"we":[64,93],"select":[65],"between":[69],"support":[71,89,128,138,177],"center":[74],"gravity":[76],"(COG)":[77],"tracking":[78],"for":[79,86,144],"walk":[83],"without":[84],"efficiency.":[87],"To":[88],"COG":[91],"tracking,":[92],"employ":[94],"a":[95,127,141],"predictive":[96,122],"control.":[97],"States":[98],"are":[99,108,124],"defined":[100],"as":[101,110],"inverted":[103],"pendulum":[104],"model":[105],"inputs":[107],"given":[109],"inertial":[112],"force":[113],"arm-swing.":[115],"Input":[116],"output":[118,158],"weights":[119],"control":[123],"adjustable":[125],"weight":[129,139],"introduced":[130],"paper.":[133],"Selection":[134],"selection":[142],"algorithm":[143],"locomotion":[145],"(Su-SAL)":[146],"switches":[147],"two":[149],"strategies":[150],"adjusting":[152],"ratio":[154],"input":[156],"(I/O)":[159],"weights.":[160],"Su-SAL":[161],"maximizes":[162],"while":[165],"keeping":[166],"comparison":[170],"with":[171],"case":[173],"constant":[176],"weight.":[178]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}