{"id":"https://openalex.org/W1938258084","doi":"https://doi.org/10.1109/irds.2002.1041668","title":"A novel gait generation for biped walking robots based on mechanical energy constraint","display_name":"A novel gait generation for biped walking robots based on mechanical energy constraint","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W1938258084","doi":"https://doi.org/10.1109/irds.2002.1041668","mag":"1938258084"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041668","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":"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/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"F. Asano","raw_affiliation_strings":["Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Japan","Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024346161","display_name":"Masaki Yamakita","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Yamakita","raw_affiliation_strings":["Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Japan","Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073624294","display_name":"Norihiro Kamamichi","orcid":"https://orcid.org/0000-0002-5530-0620"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"N. Kamamichi","raw_affiliation_strings":["Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Japan","Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100693526","display_name":"Zeren Luo","orcid":"https://orcid.org/0009-0004-9726-0702"},"institutions":[{"id":"https://openalex.org/I4210110652","display_name":"RIKEN","ror":"https://ror.org/01sjwvz98","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210110652"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Z.-W. Luo","raw_affiliation_strings":["The Institute of Physical and Chemical Research, Bio-Mimetic Control Research Center","[Bio-Mimetic Control Research Center, RIKEN Institute of Physical and Chemical Research, Nagoya, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Institute of Physical and Chemical Research, Bio-Mimetic Control Research Center","institution_ids":[]},{"raw_affiliation_string":"[Bio-Mimetic Control Research Center, RIKEN Institute of Physical and Chemical Research, Nagoya, Japan]","institution_ids":["https://openalex.org/I4210110652"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6549,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.92220779,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2637","last_page":"2644"},"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":0.9908999800682068,"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":0.9700000286102295,"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/robot","display_name":"Robot","score":0.7122066020965576},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7023157477378845},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6847172975540161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6176018118858337},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5505412817001343},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5390945672988892},{"id":"https://openalex.org/keywords/dissipation","display_name":"Dissipation","score":0.5152521729469299},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5086813569068909},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.44294190406799316},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4236571192741394},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.41041678190231323},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40983492136001587},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25156745314598083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2300640344619751},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13356995582580566},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11654162406921387},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08451861143112183},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0843912661075592},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07162609696388245}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7122066020965576},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7023157477378845},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6847172975540161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6176018118858337},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5505412817001343},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5390945672988892},{"id":"https://openalex.org/C135402231","wikidata":"https://www.wikidata.org/wiki/Q898440","display_name":"Dissipation","level":2,"score":0.5152521729469299},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5086813569068909},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.44294190406799316},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4236571192741394},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.41041678190231323},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40983492136001587},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25156745314598083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2300640344619751},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13356995582580566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11654162406921387},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08451861143112183},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0843912661075592},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07162609696388245},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/irds.2002.1041668","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041668","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W129037336","https://openalex.org/W1487434675","https://openalex.org/W2004162992","https://openalex.org/W2036484113","https://openalex.org/W2079559070","https://openalex.org/W2092034742","https://openalex.org/W2099267370","https://openalex.org/W2105307500","https://openalex.org/W2122903487","https://openalex.org/W2123477693","https://openalex.org/W2129754669","https://openalex.org/W2137547873","https://openalex.org/W2141377539","https://openalex.org/W2153763008","https://openalex.org/W2163668399","https://openalex.org/W2169026583"],"related_works":["https://openalex.org/W2347486132","https://openalex.org/W2316789606","https://openalex.org/W2350340797","https://openalex.org/W4293224283","https://openalex.org/W2950501077","https://openalex.org/W2295597290","https://openalex.org/W2066740080","https://openalex.org/W2221887527","https://openalex.org/W2253744210","https://openalex.org/W2543033426"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,28,32,40,95],"novel":[4],"energy-based":[5],"control":[6,44,66],"law":[7,45],"for":[8],"biped":[9],"robots":[10],"based":[11],"on":[12,31,94],"an":[13],"analysis":[14],"of":[15,24,61,73,82,106],"passive":[16,29],"dynamic":[17,25],"walking.":[18],"Firstly":[19],"we":[20,38],"discuss":[21],"the":[22,36,48,55,62,71,80,83,86,107],"essence":[23],"walking":[26],"using":[27],"walker":[30],"gentle":[33],"slope.":[34],"In":[35],"second,":[37],"propose":[39],"simple":[41],"and":[42,58,77,91,115],"effective":[43],"which":[46],"imitates":[47],"energy":[49,75],"behavior":[50],"in":[51,102],"every":[52],"cycle":[53],"considering":[54],"ZMP":[56],"condition":[57],"other":[59],"factors":[60],"active":[63],"walker.":[64],"The":[65,104],"strategy":[67],"is":[68,110],"formed":[69],"by":[70,112],"feature":[72],"mechanical":[74],"dissipation":[76],"restoration.":[78],"By":[79],"effect":[81],"proposed":[84,108],"method,":[85],"robot":[87],"can":[88],"exhibit":[89],"natural":[90],"reasonable":[92],"walk":[93],"level":[96],"ground":[97],"without":[98],"any":[99],"gait":[100],"design":[101],"advance.":[103],"validity":[105],"method":[109],"examined":[111],"numerical":[113],"simulations":[114],"experiments.":[116]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}