{"id":"https://openalex.org/W2128553470","doi":"https://doi.org/10.1109/iros.2007.4399348","title":"Controlling walking behavior of passive dynamic walker utilizing passive joint compliance","display_name":"Controlling walking behavior of passive dynamic walker utilizing passive joint compliance","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2128553470","doi":"https://doi.org/10.1109/iros.2007.4399348","mag":"2128553470"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5054318471","display_name":"Takashi Takuma","orcid":"https://orcid.org/0000-0003-2113-2232"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takashi Takuma","raw_affiliation_strings":["Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Osaka University, Suita"],"affiliations":[{"raw_affiliation_string":"Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Osaka University, Suita","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072232488","display_name":"Koh Hosoda","orcid":"https://orcid.org/0000-0001-8392-1021"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koh Hosoda","raw_affiliation_strings":["Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","Osaka University, Suita"],"affiliations":[{"raw_affiliation_string":"Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Osaka University, Suita","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5054318471"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.2695,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64396379,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2975","last_page":"2980"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9997000098228455,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9897000193595886,"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/joint","display_name":"Joint (building)","score":0.6847692131996155},{"id":"https://openalex.org/keywords/tuner","display_name":"Tuner","score":0.6060194373130798},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6015265583992004},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5036250948905945},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48962002992630005},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48061221837997437},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4042738676071167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4036467671394348},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25985169410705566},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15738901495933533},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1484866440296173},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14827033877372742},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1000957190990448},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09840559959411621}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6847692131996155},{"id":"https://openalex.org/C9819579","wikidata":"https://www.wikidata.org/wiki/Q1544018","display_name":"Tuner","level":3,"score":0.6060194373130798},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6015265583992004},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5036250948905945},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48962002992630005},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48061221837997437},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4042738676071167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4036467671394348},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25985169410705566},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15738901495933533},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1484866440296173},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14827033877372742},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1000957190990448},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09840559959411621},{"id":"https://openalex.org/C74064498","wikidata":"https://www.wikidata.org/wiki/Q3396184","display_name":"Radio frequency","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2007.4399348","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399348","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.565.6877","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.565.6877","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robot.ams.eng.osaka-u.ac.jp/2007/takuma07d.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1938258084","https://openalex.org/W1990047283","https://openalex.org/W2002803749","https://openalex.org/W2049374002","https://openalex.org/W2082266432","https://openalex.org/W2131148594","https://openalex.org/W2143982885","https://openalex.org/W2156378823","https://openalex.org/W2157826678","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W2154107929","https://openalex.org/W4290057712","https://openalex.org/W2168846948","https://openalex.org/W2559413996","https://openalex.org/W2559844932","https://openalex.org/W2185884583","https://openalex.org/W2096827166","https://openalex.org/W2108953480","https://openalex.org/W2549354931","https://openalex.org/W2155442923"],"abstract_inverted_index":{"The":[0,76,117],"passive":[1,114],"dynamic":[2],"walker":[3],"(PDW)":[4],"has":[5],"a":[6,55],"remarkable":[7],"characteristic":[8],"that":[9,59,95],"it":[10,20,27],"realizes":[11],"cyclic":[12,38],"locomotion":[13,39],"without":[14],"planning":[15],"the":[16,23,31,36,46,61,66,73,83,98,102,107,123,128,134,137,141],"joint":[17,49,67,77,84,100,129,138],"trajectories.":[18],"However,":[19],"cannot":[21],"control":[22,72],"walking":[24,74,108,124],"behavior":[25],"because":[26],"is":[28,79],"dominated":[29],"by":[30,41,64,81,126],"fixed":[32],"body":[33,62],"dynamics.":[34],"Observing":[35],"human":[37],"emerged":[40],"elastic":[42],"muscles,":[43],"we":[44,53],"add":[45],"compliant":[47,99],"hip":[48],"on":[50],"PDW,":[51],"and":[52,87,101,140],"propose":[54],"\"phasic":[56],"dynamics":[57,63,104,119,143],"tuner\"":[58],"changes":[60],"tuning":[65,127],"compliance":[68,78,139],"in":[69],"order":[70],"to":[71],"behavior.":[75],"obtained":[80],"driving":[82],"utilizing":[85],"antagonistic":[86],"agonistic":[88],"McKibben":[89],"pneumatic":[90],"actuators.":[91],"This":[92],"paper":[93],"shows":[94],"PDW":[96,112],"with":[97,113],"phasic":[103,118,142],"tuner":[105,120],"enhances":[106],"performance":[109],"than":[110],"present":[111],"free":[115],"joints.":[116],"can":[121],"change":[122],"velocity":[125],"compliance.":[130],"Experimental":[131],"results":[132],"show":[133],"effectiveness":[135],"of":[136],"tuner.":[144]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
