{"id":"https://openalex.org/W2111444054","doi":"https://doi.org/10.1109/iros.2008.4651209","title":"Experimental verification of gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot","display_name":"Experimental verification of gait transition from quadrupedal to bipedal locomotion of an oscillator-driven biped robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2111444054","doi":"https://doi.org/10.1109/iros.2008.4651209","mag":"2111444054"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4651209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5061965744","display_name":"Shinya Aoi","orcid":"https://orcid.org/0000-0001-9243-2641"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinya Aoi","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011110604","display_name":"Yoshimasa Egi","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Egi","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108877368","display_name":"A. Ichikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Ichikawa","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085540539","display_name":"K. Tsuchiya","orcid":"https://orcid.org/0000-0001-8540-6920"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Tsuchiya","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Graduate School of Engineering, Kyoto University, Sakyo, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]},{"raw_affiliation_string":"Dept. of Aeronaut. & Astronaut., Kyoto Univ., Kyoto","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7504,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74960782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"248","issue":null,"first_page":"1115","last_page":"1120"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9839000105857849,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.982699990272522,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.8688321113586426},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7431567311286926},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6654277443885803},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6338282823562622},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6291428804397583},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5809680819511414},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5703719854354858},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.49274519085884094},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.48298588395118713},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44567936658859253},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.398044228553772},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3825763463973999},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3398301899433136},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26412510871887207},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2613305449485779},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23112934827804565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13981318473815918},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10888847708702087},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10356679558753967}],"concepts":[{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.8688321113586426},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7431567311286926},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6654277443885803},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6338282823562622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6291428804397583},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5809680819511414},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5703719854354858},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.49274519085884094},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.48298588395118713},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44567936658859253},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.398044228553772},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3825763463973999},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3398301899433136},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26412510871887207},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2613305449485779},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23112934827804565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13981318473815918},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10888847708702087},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10356679558753967},{"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},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4651209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4651209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W211269454","https://openalex.org/W1587676105","https://openalex.org/W1824798508","https://openalex.org/W1847943785","https://openalex.org/W1976773072","https://openalex.org/W2005609567","https://openalex.org/W2017970073","https://openalex.org/W2023482630","https://openalex.org/W2033226680","https://openalex.org/W2038520029","https://openalex.org/W2081450902","https://openalex.org/W2087020603","https://openalex.org/W2103447784","https://openalex.org/W2108315391","https://openalex.org/W2144207952","https://openalex.org/W2149784701","https://openalex.org/W2155307968","https://openalex.org/W2160740151","https://openalex.org/W2399420755","https://openalex.org/W2478562489","https://openalex.org/W6639162249"],"related_works":["https://openalex.org/W2004707787","https://openalex.org/W1982482810","https://openalex.org/W1845939794","https://openalex.org/W2157306896","https://openalex.org/W3192076965","https://openalex.org/W1980483762","https://openalex.org/W2041233973","https://openalex.org/W2162451666","https://openalex.org/W2055623015","https://openalex.org/W2005342274"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,6,49,81,86,89],"control":[4,26,82,91],"of":[5,14,88],"gait":[7,50,62],"change":[8,51],"from":[9,52],"quadrupedal":[10,53],"to":[11,46,54,84],"bipedal":[12,55],"locomotion":[13,25],"a":[15,24,76],"biped":[16,77],"robot.":[17],"In":[18,71],"our":[19],"previous":[20],"work,":[21],"we":[22,74],"developed":[23],"system":[27,83],"using":[28],"nonlinear":[29],"oscillators":[30],"that":[31],"generate":[32],"adaptive":[33],"walking":[34],"behavior":[35],"verified":[36,67],"by":[37,56,68],"numerical":[38,69],"simulations":[39],"and":[40,79],"hardware":[41],"experiments.":[42],"We":[43],"extended":[44],"it":[45],"deal":[47],"with":[48],"designing":[57],"kinematic":[58],"coordination":[59],"between":[60],"these":[61],"patterns,":[63],"which":[64],"was":[65],"only":[66],"simulations.":[70],"this":[72],"paper,":[73],"create":[75],"robot":[78],"improve":[80],"verify":[85],"performance":[87],"proposed":[90],"system.":[92]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}