{"id":"https://openalex.org/W2075545718","doi":"https://doi.org/10.1109/iros.2005.1545124","title":"Architectural design of miniature anthropomorphic robots towards high-mobility","display_name":"Architectural design of miniature anthropomorphic robots towards high-mobility","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2075545718","doi":"https://doi.org/10.1109/iros.2005.1545124","mag":"2075545718"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545124","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5020961445","display_name":"Tomomichi Sugihara","orcid":null},"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":"T. Sugihara","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","[Dept. of Mechano-Informatics, Tokyo Univ., Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"[Dept. of Mechano-Informatics, Tokyo Univ., Japan]","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"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":"K. Yamamoto","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","[Dept. of Mechano-Informatics, Tokyo Univ., Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"[Dept. of Mechano-Informatics, Tokyo Univ., Japan]","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"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. Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","[Dept. of Mechano-Informatics, Tokyo Univ., Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"[Dept. of Mechano-Informatics, Tokyo Univ., Japan]","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2869","last_page":"2874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9388999938964844,"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":0.9368000030517578,"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/mechatronics","display_name":"Mechatronics","score":0.790378987789154},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.718662440776825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.689731240272522},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6312263011932373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6276450157165527},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.6200157999992371},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49633675813674927},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.4100872874259949},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3745484948158264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3201870322227478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2394426167011261},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.08956348896026611},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08066052198410034}],"concepts":[{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.790378987789154},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.718662440776825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.689731240272522},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6312263011932373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6276450157165527},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.6200157999992371},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49633675813674927},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.4100872874259949},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3745484948158264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3201870322227478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2394426167011261},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.08956348896026611},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08066052198410034},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545124","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545124","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324704","display_name":"Japan Science Society","ror":"https://ror.org/03aeyg892"},{"id":"https://openalex.org/F4320338075","display_name":"Core Research for Evolutional Science and Technology","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1581909396","https://openalex.org/W2008451308","https://openalex.org/W2036484113","https://openalex.org/W2046288877","https://openalex.org/W2109718594","https://openalex.org/W2129651248","https://openalex.org/W2137300190","https://openalex.org/W2142992961","https://openalex.org/W2164681577"],"related_works":["https://openalex.org/W2953205341","https://openalex.org/W235065745","https://openalex.org/W2029935773","https://openalex.org/W2787754950","https://openalex.org/W1572215850","https://openalex.org/W1985775355","https://openalex.org/W2352115286","https://openalex.org/W2084793300","https://openalex.org/W2476350415","https://openalex.org/W4256172809"],"abstract_inverted_index":{"A":[0],"design":[1],"methodology":[2],"to":[3,36,42,53],"build":[4],"miniature":[5],"humanoid":[6],"robots":[7],"is":[8,58,83],"discussed.":[9],"Although":[10],"light":[11],"and":[12,24,31,55],"small":[13],"bodies":[14],"would":[15,27],"make":[16],"aggressive":[17],"types":[18],"of":[19,90],"motion":[20],"experiments":[21],"much":[22],"safer":[23],"smoother,":[25],"they":[26],"often":[28],"cause":[29],"self-collisions":[30],"even":[32],"restrict":[33],"the":[34,48,69,87],"space":[35],"mount":[37],"mechatronic":[38],"components.":[39],"In":[40],"order":[41],"defeat":[43],"some":[44],"kinematic":[45],"difficulties":[46],"including":[47],"former":[49],"issue,":[50,71],"a":[51,66,72,79],"technique":[52],"modularize":[54],"assign":[56],"joints":[57],"proposed":[59],"through":[60,86],"our":[61,91],"prototyped":[62],"robot.":[63],"And,":[64],"as":[65],"solution":[67],"against":[68],"latter":[70],"portable":[73],"core":[74],"control":[75],"unit":[76],"which":[77],"stores":[78],"stand-alone":[80],"electronic":[81],"system":[82,94],"also":[84],"introduced":[85],"second":[88],"version":[89],"humanoid,":[92],"whose":[93],"centers":[95],"around":[96],"it.":[97]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}