{"id":"https://openalex.org/W2112987951","doi":"https://doi.org/10.1109/iros.2003.1250693","title":"An adaptive gait for quadruped robots to walk on a slope","display_name":"An adaptive gait for quadruped robots to walk on a slope","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2112987951","doi":"https://doi.org/10.1109/iros.2003.1250693","mag":"2112987951"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250693","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/A5063403718","display_name":"Atsushi Konno","orcid":"https://orcid.org/0000-0003-3288-8844"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Konno","raw_affiliation_strings":["Department of Aeronautics and Space Engineering, University of Tohoku, Japan","Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Space Engineering, University of Tohoku, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003692510","display_name":"Katsuhisa Ogasawara","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Ogasawara","raw_affiliation_strings":["Department of Aeronautics and Space Engineering, University of Tohoku, Japan","Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Space Engineering, University of Tohoku, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111735864","display_name":"Yoonkwon Hwang","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoonkwon Hwang","raw_affiliation_strings":["Department of Aeronautics and Space Engineering, University of Tohoku, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Space Engineering, University of Tohoku, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021173095","display_name":"Eiichi Inohira","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"E. Inohira","raw_affiliation_strings":["Department of Aeronautics and Space Engineering, University of Tohoku, Japan","Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Space Engineering, University of Tohoku, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083473038","display_name":"Masaru Uchiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Uchiyama","raw_affiliation_strings":["Department of Aeronautics and Space Engineering, University of Tohoku, Japan","Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Space Engineering, University of Tohoku, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Space Eng., Tohoku Univ., Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4913,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.82097142,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"589","last_page":"594"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9886000156402588,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9879000186920166,"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/center-of-gravity","display_name":"Center of gravity","score":0.787468671798706},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7239240407943726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6022416353225708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5658667087554932},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5511441230773926},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5321331024169922},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5264473557472229},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5210551619529724},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.41378873586654663},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3402475416660309},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2636847198009491},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.15729770064353943},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08343669772148132},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.07217207551002502}],"concepts":[{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.787468671798706},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7239240407943726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6022416353225708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5658667087554932},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5511441230773926},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5321331024169922},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5264473557472229},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5210551619529724},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.41378873586654663},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3402475416660309},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2636847198009491},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.15729770064353943},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08343669772148132},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.07217207551002502},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/iros.2003.1250693","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250693","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":[{"score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2001425376","https://openalex.org/W2121884483","https://openalex.org/W2140409130","https://openalex.org/W2151148668","https://openalex.org/W2167203957","https://openalex.org/W6682200917"],"related_works":["https://openalex.org/W3125011624","https://openalex.org/W1508631387","https://openalex.org/W2370917603","https://openalex.org/W2952760143","https://openalex.org/W2017776670","https://openalex.org/W2347897961","https://openalex.org/W2340870721","https://openalex.org/W2358318464","https://openalex.org/W2979236518","https://openalex.org/W3091955004"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"an":[3],"adaptive":[4],"intermittent":[5],"crawl":[6],"gait":[7,51],"for":[8],"quadruped":[9],"robots":[10],"to":[11,56,68],"walk":[12],"on":[13],"a":[14,23],"slope.":[15],"In":[16],"the":[17,20,31,34,37,42,47,50,58,70],"proposed":[18,71],"method,":[19],"inclination":[21],"of":[22,33,36,39],"floor":[24],"is":[25,52],"estimated":[26,48],"in":[27,54],"real":[28],"time":[29],"by":[30],"displacement":[32],"projection":[35],"center":[38],"gravity":[40],"from":[41],"nominal":[43],"position.":[44],"Depending":[45],"upon":[46],"inclination,":[49],"changed":[53],"order":[55],"gain":[57],"longitudinal":[59],"stability":[60],"margin.":[61],"Experiments":[62],"and":[63,77],"dynamic":[64],"simulations":[65],"are":[66,75],"performed":[67],"validate":[69],"method.":[72],"The":[73],"results":[74],"presented":[76],"discussed.":[78]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}