{"id":"https://openalex.org/W2140903580","doi":"https://doi.org/10.1109/iros.2003.1250652","title":"Passive walking of biped emu with attitude control of body","display_name":"Passive walking of biped emu with attitude control of body","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2140903580","doi":"https://doi.org/10.1109/iros.2003.1250652","mag":"2140903580"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5066849301","display_name":"Tetsuya KINUGASA","orcid":"https://orcid.org/0000-0001-9225-4419"},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Kinugasa","raw_affiliation_strings":["Okayama University of Science, Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University of Science, Japan","institution_ids":["https://openalex.org/I136446963"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064551191","display_name":"Yuki Hashimoto","orcid":"https://orcid.org/0000-0002-1553-6911"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Hashimoto","raw_affiliation_strings":["The University of Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5105606917","display_name":"H. Fushimi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H. Fushimi","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066849301"],"corresponding_institution_ids":["https://openalex.org/I136446963"],"apc_list":null,"apc_paid":null,"fwci":0.5723,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.70365375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"346","last_page":"351"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9939000010490417,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9797000288963318,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.7631843090057373},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6968638300895691},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6629863381385803},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5944424867630005},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5577354431152344},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5290459990501404},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.520950198173523},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43385496735572815},{"id":"https://openalex.org/keywords/descent","display_name":"Descent (aeronautics)","score":0.42196187376976013},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21116206049919128},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16766083240509033},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15904080867767334}],"concepts":[{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.7631843090057373},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6968638300895691},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6629863381385803},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5944424867630005},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5577354431152344},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5290459990501404},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.520950198173523},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43385496735572815},{"id":"https://openalex.org/C2776637919","wikidata":"https://www.wikidata.org/wiki/Q624380","display_name":"Descent (aeronautics)","level":2,"score":0.42196187376976013},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21116206049919128},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16766083240509033},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15904080867767334},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250652","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250652","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W1487434675","https://openalex.org/W1979422127","https://openalex.org/W1996763811","https://openalex.org/W2016102421","https://openalex.org/W2092034742","https://openalex.org/W2163668399","https://openalex.org/W6602037555"],"related_works":["https://openalex.org/W2486267010","https://openalex.org/W1678820847","https://openalex.org/W2559216629","https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W4298096494","https://openalex.org/W1553684505","https://openalex.org/W2588465033","https://openalex.org/W2037211941","https://openalex.org/W812846222"],"abstract_inverted_index":{"The":[0,26],"purpose":[1],"of":[2,9,12,20,43,49,66,91],"this":[3,50],"paper":[4],"is":[5,18],"to":[6,70,87],"show":[7,81],"realization":[8],"passive":[10,58],"walking":[11,28,69],"a":[13,31,75],"biped":[14,32],"robot":[15,33],"emu":[16],"that":[17,30],"composed":[19],"one":[21],"body":[22],"and":[23,59,84,95],"two":[24],"legs.":[25],"semi-passive":[27,60,68],"means":[29],"walks":[34],"passively":[35],"on":[36],"gentle":[37],"descent":[38],"accompanying":[39],"with":[40],"attitude":[41],"control":[42],"the":[44,47,54,57,67,72,89,92,96],"body.":[45],"In":[46],"beginning":[48],"paper,":[51],"we":[52,80],"outline":[53],"formulation":[55],"for":[56],"walking.":[61],"We":[62],"analyze,":[63],"next,":[64],"stability":[65],"regard":[71],"system":[73,94],"as":[74],"discrete":[76],"dynamical":[77],"system.":[78],"Finally,":[79],"some":[82],"simulated":[83],"experimental":[85],"results":[86],"verify":[88],"validity":[90],"controlled":[93],"analysis.":[97]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
