{"id":"https://openalex.org/W2103427474","doi":"https://doi.org/10.1109/irds.2002.1041669","title":"A walking and wheeled hybrid locomotion with twin-frame structure robot","display_name":"A walking and wheeled hybrid locomotion with twin-frame structure robot","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2103427474","doi":"https://doi.org/10.1109/irds.2002.1041669","mag":"2103427474"},"language":"en","primary_location":{"id":"doi:10.1109/irds.2002.1041669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041669","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/A5101402751","display_name":"Yusuke Ota","orcid":"https://orcid.org/0000-0001-5815-1328"},"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":"Y. Ota","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109352026","display_name":"K. Yoneda","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":"K. Yoneda","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066152621","display_name":"T. Tamaki","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":"T. Tamaki","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045036033","display_name":"S. Hirose","orcid":"https://orcid.org/0000-0003-4090-7806"},"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":"S. Hirose","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol., Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.6093,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.71227173,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2645","last_page":"2651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9864000082015991,"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"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9539999961853027,"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-locomotion","display_name":"Robot locomotion","score":0.8057986497879028},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7496626973152161},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7277874946594238},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6192246079444885},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6069954037666321},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.518659770488739},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4708385467529297},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4611542224884033},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45847088098526},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4409340023994446},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.41984468698501587},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.41312357783317566},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33072489500045776},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2926286458969116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27846217155456543},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.259946346282959},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10058006644248962},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07812628149986267},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06247410178184509}],"concepts":[{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.8057986497879028},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7496626973152161},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7277874946594238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6192246079444885},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6069954037666321},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.518659770488739},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4708385467529297},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4611542224884033},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45847088098526},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4409340023994446},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.41984468698501587},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.41312357783317566},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33072489500045776},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2926286458969116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27846217155456543},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.259946346282959},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10058006644248962},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07812628149986267},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06247410178184509},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/irds.2002.1041669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/irds.2002.1041669","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"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:00073588","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100469156","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:00076322","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100472168","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:00108698","is_oa":false,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100503204","pdf_url":null,"source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1879536578","https://openalex.org/W1891197240","https://openalex.org/W2105610112","https://openalex.org/W2122190776","https://openalex.org/W2125303974","https://openalex.org/W2153472126","https://openalex.org/W2154350313","https://openalex.org/W2340208578","https://openalex.org/W3211623726","https://openalex.org/W6704245347","https://openalex.org/W6803766448"],"related_works":["https://openalex.org/W3005657145","https://openalex.org/W2801520473","https://openalex.org/W2070615678","https://openalex.org/W4383097398","https://openalex.org/W2638852631","https://openalex.org/W3127708841","https://openalex.org/W4292952632","https://openalex.org/W2155622151","https://openalex.org/W3104537609","https://openalex.org/W2141345545"],"abstract_inverted_index":{"In":[0,94],"order":[1],"to":[2,13,78,83],"perform":[3,23],"tasks":[4],"and":[5,30,53,72,91,99,105,109],"move":[6],"using":[7],"separate":[8],"mechanisms,":[9],"robots":[10,21],"are":[11,103,112],"required":[12],"have":[14,43],"many":[15],"degrees":[16],"of":[17,59],"freedom":[18],"(DOF).":[19],"If":[20],"can":[22,37],"both":[24,51],"wheeled":[25,92],"locomotion":[26,32,71,90,102],"on":[27,33],"flat":[28],"ground":[29],"legged":[31,89],"uneven":[34],"terrain,":[35],"they":[36],"achieve":[38],"much":[39],"higher":[40],"mobility.":[41],"We":[42],"already":[44],"proposed":[45],"an":[46,106],"effective":[47],"design":[48],"method":[49,58],"with":[50],"mobility":[52],"manipulability,":[54],"that":[55],"is":[56,81],"a":[57],"combining":[60],"each":[61],"mechanism.":[62],"The":[63],"designed":[64],"robot":[65],"uses":[66],"the":[67,85],"same":[68,86],"mechanism":[69,87],"for":[70,88,101],"manipulation.":[73],"By":[74],"applying":[75],"this":[76,95,97],"concept":[77,98],"locomotion,":[79],"it":[80],"possible":[82],"use":[84],"locomotion.":[93],"paper,":[96],"maneuvers":[100],"described":[104],"experimental":[107],"model":[108],"experiment":[110],"results":[111],"reported.":[113]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}