{"id":"https://openalex.org/W2062095435","doi":"https://doi.org/10.1109/iros.2010.5651118","title":"Walk-to-brachiate transfer of multi-locomotion robot with error recovery","display_name":"Walk-to-brachiate transfer of multi-locomotion robot with error recovery","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2062095435","doi":"https://doi.org/10.1109/iros.2010.5651118","mag":"2062095435"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5020992815","display_name":"Zhiguo L\u00fc","orcid":"https://orcid.org/0000-0003-1003-9876"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhiguo Lu","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089806952","display_name":"Tadayoshi Aoyama","orcid":"https://orcid.org/0000-0001-7860-0725"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tadayoshi Aoyama","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111494045","display_name":"Kosuke Sekiyama","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kosuke Sekiyama","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Hasegawa","raw_affiliation_strings":["Mechanical system engineering, University of Tsukuba, Tsukuba, Japan","Mechanical system engineering, University of Tsukuba, 1-1-1Tenodai, 305-8573, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical system engineering, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Mechanical system engineering, University of Tsukuba, 1-1-1Tenodai, 305-8573, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshio Fukuda","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4036,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.79391747,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"166","last_page":"171"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9934999942779541,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9894999861717224,"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/climb","display_name":"Climb","score":0.895723819732666},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.8032640814781189},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6824392080307007},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6244776248931885},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6091450452804565},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5829863548278809},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414881706237793},{"id":"https://openalex.org/keywords/transfer","display_name":"Transfer (computing)","score":0.48915842175483704},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46323248744010925},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.46171116828918457},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3836126923561096},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.35709095001220703},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34088748693466187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32474589347839355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25762641429901123},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21101626753807068}],"concepts":[{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.895723819732666},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8032640814781189},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6824392080307007},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6244776248931885},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6091450452804565},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5829863548278809},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414881706237793},{"id":"https://openalex.org/C2776175482","wikidata":"https://www.wikidata.org/wiki/Q1195816","display_name":"Transfer (computing)","level":2,"score":0.48915842175483704},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46323248744010925},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.46171116828918457},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3836126923561096},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.35709095001220703},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34088748693466187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32474589347839355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25762641429901123},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21101626753807068},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5651118","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651118","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W136819730","https://openalex.org/W1980417234","https://openalex.org/W2012742770","https://openalex.org/W2103642436","https://openalex.org/W2105453532","https://openalex.org/W2136914764","https://openalex.org/W2142129001","https://openalex.org/W2150387201","https://openalex.org/W2155153435","https://openalex.org/W2157262593","https://openalex.org/W2157579485","https://openalex.org/W6675817987"],"related_works":["https://openalex.org/W1495548623","https://openalex.org/W2531085753","https://openalex.org/W2128642449","https://openalex.org/W2047906244","https://openalex.org/W4312400952","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W2168918646","https://openalex.org/W2283275227","https://openalex.org/W2655458901"],"abstract_inverted_index":{"This":[0,25],"paper":[1],"describes":[2],"walk-to-brachiate":[3],"transfer":[4,26,52],"of":[5,15,68,94,102,121,126],"a":[6,45,81,99],"multi-locomotion":[7],"robot":[8,36,70,104,114],"(MLR).":[9],"The":[10,124],"MLR":[11],"has":[12],"multiple":[13],"types":[14],"locomotion":[16],"such":[17,118],"as":[18,34,119],"biped":[19],"walking,":[20],"quadruped":[21],"walking":[22],"and":[23,58,66,91,115],"brachiation.":[24],"is":[27,96,133],"carried":[28],"out":[29],"through":[30],"vertical":[31],"ladder":[32],"climbing":[33],"the":[35,69,74,86,92,103,113,122,127],"must":[37],"raise":[38],"its":[39,116],"body":[40],"to":[41,56,61,107],"start":[42],"brachiating.":[43],"As":[44],"result":[46],"we":[47,78],"have":[48,79],"designed":[49,128],"two":[50],"stable":[51],"motions":[53,129],"from":[54,59,89],"walk":[55],"climb":[57,60],"brachiate,":[62],"while":[63],"contact":[64],"situations":[65],"constraints":[67],"are":[71],"changing":[72],"during":[73],"transfers.":[75],"In":[76],"addition,":[77],"proposed":[80],"control":[82],"algorithm":[83],"by":[84],"considering":[85],"reaction":[87],"force":[88],"environment,":[90],"setting":[93],"parameter":[95],"based":[97],"on":[98],"kinetic":[100],"model":[101],"in":[105],"order":[106],"tolerate":[108],"relative":[109],"position":[110],"errors":[111],"between":[112],"environments":[117],"rungs":[120],"ladder.":[123],"robustness":[125],"with":[130],"error":[131],"corrections":[132],"experimentally":[134],"verified.":[135]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}