{"id":"https://openalex.org/W1587089099","doi":"https://doi.org/10.1109/iros.2004.1389344","title":"Design and development of a light-weight biped humanoid robot Saika-4","display_name":"Design and development of a light-weight biped humanoid robot Saika-4","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W1587089099","doi":"https://doi.org/10.1109/iros.2004.1389344","mag":"1587089099"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5062565154","display_name":"Satoru Shirata","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":"S. Shirata","raw_affiliation_strings":["Department of AeroSpace Engineering, University of Tohoku, Sendai, Japan","Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","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 AeroSpace Engineering, University of Tohoku, Sendai, Japan","Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aerosp. Eng., Tohoku Univ., Sendai, 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 AeroSpace Engineering, University of Tohoku, Sendai, Japan","Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of AeroSpace Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Dept. of Aerosp. Eng., Tohoku Univ., Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.9917,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.89663026,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"148","last_page":"153"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9697999954223633,"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":0.9670000076293945,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8728041052818298},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6244458556175232},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.565430223941803},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5583568811416626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5292413234710693},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.526854395866394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5172265768051147},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.48724618554115295},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48080721497535706},{"id":"https://openalex.org/keywords/ethernet","display_name":"Ethernet","score":0.45751139521598816},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35748207569122314},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35439029335975647},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3402528762817383},{"id":"https://openalex.org/keywords/computer-hardware","display_name":"Computer hardware","score":0.18389353156089783},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10128393769264221},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06569573283195496}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8728041052818298},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6244458556175232},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.565430223941803},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5583568811416626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5292413234710693},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.526854395866394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5172265768051147},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.48724618554115295},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48080721497535706},{"id":"https://openalex.org/C172173386","wikidata":"https://www.wikidata.org/wiki/Q79984","display_name":"Ethernet","level":2,"score":0.45751139521598816},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35748207569122314},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35439029335975647},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3402528762817383},{"id":"https://openalex.org/C9390403","wikidata":"https://www.wikidata.org/wiki/Q3966","display_name":"Computer hardware","level":1,"score":0.18389353156089783},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10128393769264221},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06569573283195496},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.550000011920929,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1530655709","https://openalex.org/W1903937396","https://openalex.org/W1931803841","https://openalex.org/W2121676031","https://openalex.org/W2136960579","https://openalex.org/W2142992961","https://openalex.org/W2145224127","https://openalex.org/W2150034870","https://openalex.org/W2155145128","https://openalex.org/W2159593326","https://openalex.org/W6631781121","https://openalex.org/W6682735069"],"related_works":["https://openalex.org/W1889129279","https://openalex.org/W4387451989","https://openalex.org/W2532412374","https://openalex.org/W2745063183","https://openalex.org/W2063137106","https://openalex.org/W23275807","https://openalex.org/W2358715846","https://openalex.org/W2761234876","https://openalex.org/W4229455305","https://openalex.org/W2168042464"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,41],"meet":[3],"the":[4,57,111,114,126,131,139,142,147],"demand":[5],"of":[6,133,141,146],"a":[7,13,23,32,98,101,105,119,134],"research":[8],"platform":[9],"for":[10,74,79,84,90],"intelligent":[11],"robotics,":[12],"humanoid":[14,135],"robot":[15,26,136],"named":[16],"Saika-4":[17,21,36,64,94,115,137],"is":[18,22,37,52,59,71,95,116,151],"developed.":[19],"The":[20,35,50,63,93,144],"self-sustained":[24],"biped":[25],"equipped":[27,96,117],"with":[28,97,118],"two":[29],"arms":[30],"and":[31,47,56,87,107,138],"robotics":[33,91],"head.":[34,92],"designed":[38],"so":[39],"as":[40],"be":[42],"light":[43],"weight,":[44],"low":[45],"cost":[46],"human":[48],"size.":[49],"weight":[51],"about":[53,60],"47":[54],"kg,":[55],"height":[58],"1300":[61],"mm.":[62],"have":[65],"30":[66],"DOF":[67,73,78,83,89],"in":[68,110,125],"total,":[69],"that":[70],"6":[72],"each":[75,80,85],"leg,":[76],"7":[77],"arm,":[81],"1":[82],"hand":[86],"2":[88],"PC,":[99],"batteries,":[100],"wireless":[102],"ethernet":[103],"modem,":[104],"gyroscope,":[106],"motor":[108],"drivers":[109],"body.":[112],"Furthermore,":[113],"gravity":[120,148],"compensation":[121,149],"mechanism":[122,150],"using":[123],"springs":[124],"legs.":[127],"This":[128],"paper":[129],"presents":[130],"design":[132],"progress":[140],"project.":[143],"details":[145],"also":[152],"presented.":[153]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
