{"id":"https://openalex.org/W2280269365","doi":"https://doi.org/10.1109/iecon.2015.7392860","title":"Gait pattern acquisition for four-legged mobile robot by genetic algorithm","display_name":"Gait pattern acquisition for four-legged mobile robot by genetic algorithm","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2280269365","doi":"https://doi.org/10.1109/iecon.2015.7392860","mag":"2280269365"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2015.7392860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2015.7392860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","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/A5063122275","display_name":"Tatsuya Kato","orcid":"https://orcid.org/0000-0003-4063-0042"},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Kato","raw_affiliation_strings":["Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan","institution_ids":["https://openalex.org/I3018098410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076548232","display_name":"Kai Shiromi","orcid":null},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kai Shiromi","raw_affiliation_strings":["Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan","institution_ids":["https://openalex.org/I3018098410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047483372","display_name":"Masanobu Nagata","orcid":null},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masanobu Nagata","raw_affiliation_strings":["Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan","institution_ids":["https://openalex.org/I3018098410"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113784793","display_name":"Hidetoshi Nakashima","orcid":null},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hidetoshi Nakashima","raw_affiliation_strings":["Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan","institution_ids":["https://openalex.org/I3018098410"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102152240","display_name":"Kazunori Matsuo","orcid":null},"institutions":[{"id":"https://openalex.org/I3018098410","display_name":"National Institute of Technology, Kumamoto College","ror":"https://ror.org/01c697313","country_code":"JP","type":"education","lineage":["https://openalex.org/I3018098410","https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazunori Matsuo","raw_affiliation_strings":["Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Control and Information Systems Engineering, National Institute of Technology, Koshi, Kumamoto, Japan","institution_ids":["https://openalex.org/I3018098410"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I3018098410"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"004854","last_page":"004857"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9927999973297119,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9653000235557556,"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/robot","display_name":"Robot","score":0.7870460748672485},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7775564789772034},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6546713709831238},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6317527294158936},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.6165814399719238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5367793440818787},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5111461281776428},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5032591223716736},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47606322169303894},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4253828525543213},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.424324631690979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.417251318693161},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41161197423934937},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11567303538322449}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7870460748672485},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7775564789772034},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6546713709831238},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6317527294158936},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.6165814399719238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5367793440818787},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5111461281776428},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5032591223716736},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47606322169303894},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4253828525543213},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.424324631690979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.417251318693161},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41161197423934937},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11567303538322449},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/iecon.2015.7392860","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2015.7392860","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1553583505","https://openalex.org/W1600877731","https://openalex.org/W2006976726","https://openalex.org/W2011483189","https://openalex.org/W2023037823","https://openalex.org/W2029893351","https://openalex.org/W2088012217","https://openalex.org/W2158731746","https://openalex.org/W6652056602"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W3005657145","https://openalex.org/W2402852349","https://openalex.org/W1643150164","https://openalex.org/W2603793748","https://openalex.org/W4220799716","https://openalex.org/W2004919679"],"abstract_inverted_index":{"The":[0,74,93],"legged":[1],"mechanism":[2],"has":[3],"flexibility":[4],"to":[5,33,45,67,81,89,129],"change":[6],"its":[7],"movement":[8],"for":[9,102],"ground":[10],"conditions":[11],"such":[12,26],"as":[13],"flat,":[14],"slope,":[15],"step":[16],"or":[17],"any":[18],"other":[19],"rough":[20],"terrain.":[21],"If":[22],"mobile":[23],"robots":[24],"have":[25],"mobility":[27],"and":[28,38,117,135],"stability,":[29],"they":[30],"were":[31,96,111],"able":[32,128],"work":[34],"more":[35],"wider":[36],"fields":[37],"situations":[39],"This":[40],"paper":[41],"proposes":[42],"a":[43,52],"method":[44,79,95],"acquire":[46],"the":[47,69,86,90,104,114,118,122,125,131],"gait":[48,70,87,106,133],"pattern":[49,71,88,107,134,138],"by":[50,84,98,139],"using":[51],"genetic":[53],"algorithm.":[54],"A":[55],"robot":[56,63,100,116,126],"model":[57],"which":[58],"is":[59,65,80],"based":[60],"on":[61],"real":[62,91,99,115],"specifications":[64],"created":[66],"obtain":[68,130],"through":[72,108,141],"simulations.":[73,109,142],"objective":[75],"of":[76],"this":[77],"proposed":[78,94],"achieve":[82],"walking":[83,136],"applying":[85],"robot.":[92],"evaluated":[97],"experiments":[101],"loading":[103],"obtained":[105],"There":[110],"difference":[112],"between":[113],"simulation":[119],"models":[120],"in":[121],"time.":[123],"However,":[124],"was":[127],"faster":[132],"rear":[137],"GA":[140]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}