{"id":"https://openalex.org/W2100645561","doi":"https://doi.org/10.1109/iros.2004.1389942","title":"Free-gait of quadruped robots using neural networks for determining the order of swing leg","display_name":"Free-gait of quadruped robots using neural networks for determining the order of swing leg","publication_year":2005,"publication_date":"2005-04-06","ids":{"openalex":"https://openalex.org/W2100645561","doi":"https://doi.org/10.1109/iros.2004.1389942","mag":"2100645561"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389942","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389942","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":"conference-paper","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/A5011667213","display_name":"Keisuke Izumi","orcid":"https://orcid.org/0000-0001-8597-0759"},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Izumi","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Saga University, Saga, Japan","Department of Advanced Systems Control Engineering, Saga University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Saga University, Saga, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Saga University, Japan","institution_ids":["https://openalex.org/I177136067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032242069","display_name":"Tomohiro Yamaguchi","orcid":"https://orcid.org/0000-0001-6548-856X"},"institutions":[{"id":"https://openalex.org/I41802502","display_name":"Kanagawa University","ror":"https://ror.org/02j6c0d67","country_code":"JP","type":"education","lineage":["https://openalex.org/I41802502"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Yamaguchi","raw_affiliation_strings":["Department of Electrical, Electronics and Information Engineering, Kanagawa University, Yokohama, Kanagawa, Japan","#N#Kanagawa University#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics and Information Engineering, Kanagawa University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I41802502"]},{"raw_affiliation_string":"#N#Kanagawa University#N#","institution_ids":["https://openalex.org/I41802502"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046339276","display_name":"Katsuhiro Watanabe","orcid":null},"institutions":[{"id":"https://openalex.org/I177136067","display_name":"Saga University","ror":"https://ror.org/04f4wg107","country_code":"JP","type":"education","lineage":["https://openalex.org/I177136067"]},{"id":"https://openalex.org/I41802502","display_name":"Kanagawa University","ror":"https://ror.org/02j6c0d67","country_code":"JP","type":"education","lineage":["https://openalex.org/I41802502"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Watanabe","raw_affiliation_strings":["Department of Advanced Systems Control Engineering, Saga University, Saga, Japan","#N#Kanagawa University#N#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Systems Control Engineering, Saga University, Saga, Japan","institution_ids":["https://openalex.org/I177136067"]},{"raw_affiliation_string":"#N#Kanagawa University#N#","institution_ids":["https://openalex.org/I41802502"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":null,"first_page":"3400","last_page":"3405"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9764999747276306,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9225999712944031,"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/swing","display_name":"Swing","score":0.918746829032898},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7988439798355103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5999917387962341},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.588379442691803},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5608185529708862},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41389721632003784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3690030574798584},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2160642147064209},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.21376708149909973}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.918746829032898},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7988439798355103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5999917387962341},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.588379442691803},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5608185529708862},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41389721632003784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3690030574798584},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2160642147064209},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.21376708149909973},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/iros.2004.1389942","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389942","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":[{"display_name":"Sustainable cities and communities","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W78678669","https://openalex.org/W606701935","https://openalex.org/W1579000957","https://openalex.org/W2119698948","https://openalex.org/W2126218832","https://openalex.org/W2317875122","https://openalex.org/W2320161069","https://openalex.org/W2323734757","https://openalex.org/W2490187503","https://openalex.org/W4301173492"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W2998806118"],"abstract_inverted_index":{"In":[0,20],"walking":[1,26],"of":[2,14,30,43,51,63,68],"quadruped":[3,32],"robots,":[4],"a":[5,18,25,31,52],"better":[6],"performance":[7],"is":[8,58,72],"obtained":[9],"by":[10],"changing":[11],"the":[12,40,44,49,69],"order":[13,50],"swing":[15,53],"leg":[16],"at":[17],"gait.":[19],"this":[21],"paper,":[22],"we":[23],"study":[24],"with":[27,60,74],"obstacles":[28],"avoidance":[29],"robot":[33,45],"using":[34,77],"neural":[35],"network":[36],"(NN)":[37],"for":[38,47],"determining":[39,48],"moving":[41],"distance":[42],"and":[46],"leg.":[54,65],"The":[55,66],"training":[56],"data":[57],"considered":[59],"initial":[61],"positions":[62],"each":[64],"effectiveness":[67],"present":[70],"method":[71],"demonstrated":[73],"some":[75],"experiments":[76],"TITAN-Vin.":[78]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}