{"id":"https://openalex.org/W2968112528","doi":"https://doi.org/10.1109/icra.2019.8793787","title":"Experimental Validation of High-Efficiency Hydraulic Direct-Drive System for a Biped Humanoid Robot\u2014Comparison with Valve-Based Control System","display_name":"Experimental Validation of High-Efficiency Hydraulic Direct-Drive System for a Biped Humanoid Robot\u2014Comparison with Valve-Based Control System","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968112528","doi":"https://doi.org/10.1109/icra.2019.8793787","mag":"2968112528"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5034455029","display_name":"J. Shimizu","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"J. Shimizu","raw_affiliation_strings":["Graduate School of Advanced Science and Engineering, Waseda University, Hitachi, Ltd., #41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo, JAPAN"],"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Engineering, Waseda University, Hitachi, Ltd., #41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo, JAPAN","institution_ids":["https://openalex.org/I150744194","https://openalex.org/I65143321"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050053184","display_name":"Takuya Otani","orcid":"https://orcid.org/0000-0002-5514-6037"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Otani","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Humanoid Robotics Institute (HRI), Waseda University"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Humanoid Robotics Institute (HRI), Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108725359","display_name":"Hideki Mizukami","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Mizukami","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Hashimoto","raw_affiliation_strings":["School of Science and Technology, Meiji University, Humanoid Robotics Institute, Waseda University"],"affiliations":[{"raw_affiliation_string":"School of Science and Technology, Meiji University, Humanoid Robotics Institute, Waseda University","institution_ids":["https://openalex.org/I16656306","https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Humanoid Robotics Institute, Waseda University"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Humanoid Robotics Institute, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5034455029"],"corresponding_institution_ids":["https://openalex.org/I150744194","https://openalex.org/I65143321"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.55124911,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"9453","last_page":"9458"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994000196456909,"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":0.9912999868392944,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.7456914782524109},{"id":"https://openalex.org/keywords/hydraulic-motor","display_name":"Hydraulic motor","score":0.5601396560668945},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48321759700775146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4818233549594879},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.48060843348503113},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4612705707550049},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.45600685477256775},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4506044387817383},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.45028194785118103},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.44348251819610596},{"id":"https://openalex.org/keywords/transmission-system","display_name":"Transmission system","score":0.44234734773635864},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.44012731313705444},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4359918236732483},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4285510182380676},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.41230112314224243},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3875010907649994},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34462714195251465},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22199255228042603},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1625092625617981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0879787802696228}],"concepts":[{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.7456914782524109},{"id":"https://openalex.org/C29450929","wikidata":"https://www.wikidata.org/wiki/Q3183265","display_name":"Hydraulic motor","level":2,"score":0.5601396560668945},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48321759700775146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4818233549594879},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.48060843348503113},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4612705707550049},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.45600685477256775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4506044387817383},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.45028194785118103},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.44348251819610596},{"id":"https://openalex.org/C113608303","wikidata":"https://www.wikidata.org/wiki/Q1056835","display_name":"Transmission system","level":3,"score":0.44234734773635864},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.44012731313705444},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4359918236732483},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4285510182380676},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.41230112314224243},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3875010907649994},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34462714195251465},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22199255228042603},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1625092625617981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0879787802696228},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793787","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793787","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1486120613","https://openalex.org/W1980065440","https://openalex.org/W2029394778","https://openalex.org/W2061578829","https://openalex.org/W2062127963","https://openalex.org/W2124641719","https://openalex.org/W2205523630","https://openalex.org/W2555059385","https://openalex.org/W2912076599"],"related_works":["https://openalex.org/W1994483855","https://openalex.org/W2156529072","https://openalex.org/W2382410727","https://openalex.org/W2386566072","https://openalex.org/W2989756544","https://openalex.org/W2900780612","https://openalex.org/W2039357536","https://openalex.org/W3198867590","https://openalex.org/W2353955355","https://openalex.org/W3217020869"],"abstract_inverted_index":{"Biped":[0],"robots":[1],"require":[2],"substantial":[3],"amounts":[4],"of":[5,45,94],"power":[6],"alternately":[7],"on":[8],"each":[9,49],"leg":[10,50],"while":[11],"walking,":[12],"hopping,":[13],"and":[14,81,108],"running.":[15],"However,":[16],"it":[17],"is":[18,39,69,106,112],"difficult":[19],"to":[20,32],"mount":[21],"high-power":[22],"large":[23],"electrical":[24],"motors":[25],"in":[26,41,48,71],"conventional":[27],"mechanical":[28],"transmission":[29],"systems":[30],"owing":[31],"spatial":[33],"limitations.":[34],"A":[35],"hydraulic":[36,66,74],"direct-drive":[37,67],"system":[38,68,101],"proposed":[40,90,116],"which":[42],"the":[43,46,56,60,65,89,115],"size":[44],"motor":[47,57],"can":[51],"be":[52],"reduced":[53],"by":[54],"sharing":[55],"outputs":[58],"between":[59],"legs.":[61],"In":[62],"this":[63],"paper,":[64],"evaluated":[70],"an":[72],"actual":[73],"system.":[75,91,117],"Velocity":[76],"followability,":[77],"excellent":[78],"energy":[79,104],"saving,":[80],"virtually":[82],"perfect":[83],"position":[84],"tracking":[85],"are":[86],"achieved":[87,113],"with":[88,97],"The":[92],"results":[93],"performance":[95],"comparison":[96],"a":[98],"valve-based":[99],"control":[100],"show":[102],"that":[103],"consumption":[105],"controlled":[107],"good":[109],"position-following":[110],"capability":[111],"using":[114]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
