{"id":"https://openalex.org/W2105219792","doi":"https://doi.org/10.1109/irds.2002.1041662","title":"Flexible locomotion control of a self-contained biped leg-wheeled system","display_name":"Flexible locomotion control of a self-contained biped leg-wheeled system","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2105219792","doi":"https://doi.org/10.1109/irds.2002.1041662","mag":"2105219792"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","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/A5110058276","display_name":"O. Matsumoto","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"O. Matsumoto","raw_affiliation_strings":["Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kajita","raw_affiliation_strings":["Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013961715","display_name":"K. Komoriya","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Komoriya","raw_affiliation_strings":["Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Institute, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":3.0024,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.91676821,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"2599","last_page":"2604"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9977999925613403,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9872999787330627,"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/stairs","display_name":"Stairs","score":0.873774528503418},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6999520659446716},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5547573566436768},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5373294353485107},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4562704265117645},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4440145194530487},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4239603281021118},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41497039794921875},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33547350764274597},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3081319034099579},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10739988088607788},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.0882723331451416}],"concepts":[{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.873774528503418},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6999520659446716},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5547573566436768},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5373294353485107},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4562704265117645},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4440145194530487},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4239603281021118},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41497039794921875},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33547350764274597},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3081319034099579},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10739988088607788},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.0882723331451416},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1041662","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041662","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and System","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Responsible consumption and production","score":0.550000011920929,"id":"https://metadata.un.org/sdg/12"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W70644099","https://openalex.org/W1833824432","https://openalex.org/W1849023087","https://openalex.org/W1985720921","https://openalex.org/W1990940450","https://openalex.org/W2105610112","https://openalex.org/W2123477693","https://openalex.org/W2125303974","https://openalex.org/W2153472126","https://openalex.org/W3211623726","https://openalex.org/W6602805772","https://openalex.org/W6638862875","https://openalex.org/W6803766448"],"related_works":["https://openalex.org/W2049247410","https://openalex.org/W2318265355","https://openalex.org/W1486724195","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W2028191919","https://openalex.org/W4200464353","https://openalex.org/W2387566434","https://openalex.org/W1515848118","https://openalex.org/W2077037190"],"abstract_inverted_index":{"Combination":[0],"of":[1,19,50,141,148,155,185,194,198],"wheels":[2,93,113,131,150],"and":[3,16,57,85,104,129,138,167],"legs":[4],"has":[5,63],"the":[6,47,51,78,95,98,115,118,125,136,153,156,159,186,195,199,208],"potential":[7],"to":[8,35,161,177],"realize":[9,36],"efficient":[10],"locomotion":[11,38,59],"on":[12,31],"a":[13,88,107,178,191,202],"flat":[14],"surface":[15],"also":[17],"negotiation":[18,75,120],"artificial":[20],"irregularity":[21],"such":[22],"as":[23],"stairs":[24,126],"or":[25],"steps.":[26],"We":[27],"have":[28],"been":[29],"studying":[30],"biped":[32,54,203],"leg-wheeled":[33,55,179,204],"system":[34,56,62,157,187,205],"flexible":[37],"in":[39,133,207],"our":[40],"daily,":[41],"life":[42],"environment.":[43],"This":[44],"paper":[45],"describes":[46],"design":[48],"concept":[49],"self-":[52],"contained":[53],"its":[58,91],"concept.":[60],"The":[61,164,183],"three":[64],"locomotive":[65,69,72],"modes":[66],"-":[67],"4-wheeled":[68],"mode,":[70,73,80,100,121],"2-wheeled":[71],"stair":[74,119,170],"mode.":[76],"In":[77,97,117,143],"first":[79],"it":[81,101,122],"can":[82,102,123,173],"travel":[83,103],"quickly":[84],"steer":[86,105],"like":[87,106],"car":[89],"with":[90,111,127,135],"four":[92],"contacting":[94,114],"ground":[96,116],"second":[99],"wheeled":[108],"inverted":[109],"pendulum":[110],"two":[112],"negotiate":[124],"front":[128],"rear":[130],"continuously":[132],"contact":[134],"horizontal":[137],"vertical":[139],"surfaces":[140],"stairs.":[142],"this":[144],"mode":[145],"torque":[146],"control":[147,165],"both":[149],"while":[151],"maintaining":[152],"posture":[154],"is":[158,188],"key":[160],"successful":[162,192],"negotiation.":[163],"scheme":[166],"method":[168],"for":[169],"negotiation,":[171],"which":[172],"be":[174],"applied":[175],"generally":[176],"system,":[180],"are":[181],"introduced":[182],"effectiveness":[184],"demonstrated":[189],"by":[190],"experiment":[193],"lift-up":[196],"motion":[197],"wheel":[200],"using":[201],"developed":[206],"authors'":[209],"previous":[210],"research.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
