{"id":"https://openalex.org/W2122781667","doi":"https://doi.org/10.1109/iros.2007.4399382","title":"Design and evaluation of a gravity compensation mechanism for a humanoid robot","display_name":"Design and evaluation of a gravity compensation mechanism for a humanoid robot","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2122781667","doi":"https://doi.org/10.1109/iros.2007.4399382","mag":"2122781667"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399382","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/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":"Satoru Shirata","raw_affiliation_strings":["Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","Tohoku University, Sendai"],"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":"Tohoku University, Sendai","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":"Atsushi Konno","raw_affiliation_strings":["Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","Tohoku University, Sendai"],"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":"Tohoku University, Sendai","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":"Masaru Uchiyama","raw_affiliation_strings":["Department of Aerospace Engineering, University of Tohoku, Sendai, Japan","Tohoku University, Sendai"],"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":"Tohoku University, Sendai","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":0.2696,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.64326714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3635","last_page":"3640"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9753000140190125,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9293000102043152,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9312701225280762},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.8228057622909546},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.7444883584976196},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6173637509346008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5956553816795349},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5459304451942444},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4958079755306244},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4092719852924347},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40101689100265503},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3053280711174011},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2146517038345337},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20906004309654236},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1438966691493988},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.0832756757736206}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9312701225280762},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.8228057622909546},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.7444883584976196},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6173637509346008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5956553816795349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5459304451942444},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4958079755306244},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4092719852924347},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40101689100265503},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3053280711174011},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2146517038345337},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20906004309654236},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1438966691493988},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0832756757736206},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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.2007.4399382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399382","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"}],"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/W1587089099","https://openalex.org/W1931803841","https://openalex.org/W1971175227","https://openalex.org/W1997401004","https://openalex.org/W2088677124","https://openalex.org/W2143802278","https://openalex.org/W2154938948","https://openalex.org/W2166162370","https://openalex.org/W2983916874","https://openalex.org/W6650575149"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039","https://openalex.org/W2378569813","https://openalex.org/W2372125609"],"abstract_inverted_index":{"Performance":[0],"of":[1,12,17,28,34,37,75,84,105],"a":[2,18,52,62],"human":[3],"size":[4],"humanoid":[5,89,116],"robot":[6,90],"is":[7,56,59,68,92],"strictly":[8],"limited":[9],"by":[10],"performance":[11,36],"the":[13,26,31,35,38,46,72,76,81,85,95,100,106,115],"motor.":[14],"The":[15,66],"progress":[16,27,33],"motor":[19,39],"has":[20],"not":[21],"been":[22],"remarkable":[23],"compared":[24],"with":[25,94],"electronics.":[29],"Therefore,":[30],"great":[32],"cannot":[40],"be":[41],"expected,":[42],"at":[43],"least":[44],"in":[45,99],"present":[47],"circumstances.":[48],"In":[49],"this":[50],"paper,":[51],"gravity":[53,96,107],"compensation":[54,97,108],"mechanism":[55,67,98],"designed":[57],"which":[58],"applicable":[60],"to":[61,70,79],"general":[63],"biped":[64],"robot.":[65,117],"expected":[69],"reduce":[71],"joint":[73],"torque":[74],"legs":[77],"required":[78],"support":[80],"gravitational":[82],"force":[83],"whole":[86],"body.":[87],"A":[88],"Saika-4":[91],"equipped":[93],"legs.":[101],"To":[102],"evaluate":[103],"effectiveness":[104],"mechanism,":[109],"preliminary":[110],"experiments":[111],"are":[112],"performed":[113],"using":[114]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
