{"id":"https://openalex.org/W4383109348","doi":"https://doi.org/10.1109/icra48891.2023.10160772","title":"Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance","display_name":"Effect of the Dynamics of a Horizontally Wobbling Mass on Biped Walking Performance","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109348","doi":"https://doi.org/10.1109/icra48891.2023.10160772"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5070094810","display_name":"Tomoya Kamimura","orcid":"https://orcid.org/0000-0001-5638-9113"},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tomoya Kamimura","raw_affiliation_strings":["Nagoya Institute of Technology,Department of Electrical and Mechanical Engineering,Nagoya,Japan","Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Nagoya Institute of Technology,Department of Electrical and Mechanical Engineering,Nagoya,Japan","institution_ids":["https://openalex.org/I197274945"]},{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109992113","display_name":"Akihito SANO","orcid":null},"institutions":[{"id":"https://openalex.org/I197274945","display_name":"Nagoya Institute of Technology","ror":"https://ror.org/055yf1005","country_code":"JP","type":"education","lineage":["https://openalex.org/I197274945"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihito Sano","raw_affiliation_strings":["Nagoya Institute of Technology,Department of Electrical and Mechanical Engineering,Nagoya,Japan","Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan"],"affiliations":[{"raw_affiliation_string":"Nagoya Institute of Technology,Department of Electrical and Mechanical Engineering,Nagoya,Japan","institution_ids":["https://openalex.org/I197274945"]},{"raw_affiliation_string":"Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology, Nagoya, Japan","institution_ids":["https://openalex.org/I197274945"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5070094810"],"corresponding_institution_ids":["https://openalex.org/I197274945"],"apc_list":null,"apc_paid":null,"fwci":0.7866,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67733253,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"12212","last_page":"12217"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9700999855995178,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9240000247955322,"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":0.74517822265625},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7122292518615723},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.5694390535354614},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.56248939037323},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.547338604927063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5291712284088135},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4891417324542999},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.4799261689186096},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4617142677307129},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.451038658618927},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4355125427246094},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.4124210774898529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3982672691345215},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3855072855949402},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.37863993644714355},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21383550763130188},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1903446912765503},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11709117889404297},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09662994742393494}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.74517822265625},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7122292518615723},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.5694390535354614},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.56248939037323},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.547338604927063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5291712284088135},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4891417324542999},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.4799261689186096},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4617142677307129},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.451038658618927},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4355125427246094},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.4124210774898529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3982672691345215},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3855072855949402},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.37863993644714355},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21383550763130188},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1903446912765503},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11709117889404297},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09662994742393494},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160772","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160772","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 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":[{"id":"https://openalex.org/G1528764673","display_name":null,"funder_award_id":"JP21K14104,JP22H01445","funder_id":"https://openalex.org/F4320320212","funder_display_name":"Japan Society for the Promotion of Science London"}],"funders":[{"id":"https://openalex.org/F4320320212","display_name":"Japan Society for the Promotion of Science London","ror":"https://ror.org/02m7axw05"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W840498536","https://openalex.org/W1539789548","https://openalex.org/W1986255829","https://openalex.org/W1997649758","https://openalex.org/W2012187119","https://openalex.org/W2015324860","https://openalex.org/W2016102421","https://openalex.org/W2027394111","https://openalex.org/W2029058516","https://openalex.org/W2074686910","https://openalex.org/W2081450902","https://openalex.org/W2088012217","https://openalex.org/W2100461200","https://openalex.org/W2112349308","https://openalex.org/W2141927332","https://openalex.org/W2143314240","https://openalex.org/W2146469560","https://openalex.org/W2148966638","https://openalex.org/W2149407815","https://openalex.org/W2160740151","https://openalex.org/W2163668399","https://openalex.org/W2980721308","https://openalex.org/W2995591844","https://openalex.org/W3025228356","https://openalex.org/W3092292019","https://openalex.org/W4200324510"],"related_works":["https://openalex.org/W2216376000","https://openalex.org/W4388297534","https://openalex.org/W2051439117","https://openalex.org/W1673883441","https://openalex.org/W4298109871","https://openalex.org/W2313188567","https://openalex.org/W4248124207","https://openalex.org/W2083477739","https://openalex.org/W2089966216","https://openalex.org/W2017930464"],"abstract_inverted_index":{"We":[0],"have":[1],"developed":[2],"biped":[3,141],"robots":[4],"with":[5,17],"a":[6,14,18],"passive":[7],"dynamic":[8],"walking":[9],"mechanism.":[10],"This":[11],"study":[12],"proposes":[13],"compass":[15],"model":[16,52,137],"wobbling":[19,80,108],"mass":[20,109],"connected":[21],"to":[22,32,106,115],"the":[23,29,34,37,41,51,74,79,87,91,98,107,112,116,132,135,139],"upper":[24,42,117],"body":[25,43],"and":[26,56,59,96,125,138,143],"oscillating":[27],"in":[28,111,123],"horizontal":[30,38],"direction":[31,114],"clarify":[33],"influence":[35],"of":[36,40,50,84,93,134],"dynamics":[39],"on":[44,73],"bipedal":[45],"walking.":[46,128],"The":[47,101,129],"limit":[48,67],"cycles":[49,68],"were":[53,69,104],"numerically":[54],"searched,":[55],"their":[57],"stability":[58,88],"energy":[60,99],"efficiency":[61],"was":[62,146],"investigated.":[63,147],"Several":[64],"qualitatively":[65],"different":[66],"obtained":[70,102],"depending":[71],"mainly":[72],"spring":[75],"constant":[76],"that":[77],"supports":[78],"mass.":[81],"Specific":[82],"types":[83],"solutions":[85],"decreased":[86],"while":[89,127],"reducing":[90],"risk":[92],"accidental":[94],"falling":[95],"improving":[97],"efficiency.":[100],"results":[103],"attributed":[105],"moving":[110],"opposite":[113],"body,":[118],"thereby":[119],"preventing":[120],"large":[121],"changes":[122],"acceleration":[124],"deceleration":[126],"relationship":[130],"between":[131],"locomotion":[133],"proposed":[136],"actual":[140],"robot":[142],"human":[144],"gaits":[145]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
