{"id":"https://openalex.org/W2051908858","doi":"https://doi.org/10.1109/iros.2012.6385499","title":"Gait analysis and efficiency improvement of passive dynamic walking of combined rimless wheel with wobbling mass","display_name":"Gait analysis and efficiency improvement of passive dynamic walking of combined rimless wheel with wobbling mass","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2051908858","doi":"https://doi.org/10.1109/iros.2012.6385499","mag":"2051908858"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385499","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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/A5080309198","display_name":"Daiki Tanaka","orcid":"https://orcid.org/0000-0003-1900-4848"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daiki Tanaka","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038629773","display_name":"Isao T. Tokuda","orcid":"https://orcid.org/0000-0001-6212-0022"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isao Tokuda","raw_affiliation_strings":["Department of Mechanical Engineering, Faculty of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","Department of Mechanical Engineering, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga, 525-8577, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga, 525-8577, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8639,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.84736565,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"309","issue":null,"first_page":"151","last_page":"156"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11230","display_name":"Innovative Energy Harvesting Technologies","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/control-theory","display_name":"Control theory (sociology)","score":0.7398605942726135},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6271803975105286},{"id":"https://openalex.org/keywords/flattening","display_name":"Flattening","score":0.5345498919487},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.49157461524009705},{"id":"https://openalex.org/keywords/hysteresis","display_name":"Hysteresis","score":0.481583833694458},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.4472610652446747},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4362157881259918},{"id":"https://openalex.org/keywords/phase-difference","display_name":"Phase difference","score":0.43308448791503906},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.42266708612442017},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3754573166370392},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36734169721603394},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.35987257957458496},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34708550572395325},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2766176462173462}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7398605942726135},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6271803975105286},{"id":"https://openalex.org/C19444555","wikidata":"https://www.wikidata.org/wiki/Q212750","display_name":"Flattening","level":2,"score":0.5345498919487},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.49157461524009705},{"id":"https://openalex.org/C123299182","wikidata":"https://www.wikidata.org/wiki/Q190837","display_name":"Hysteresis","level":2,"score":0.481583833694458},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.4472610652446747},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4362157881259918},{"id":"https://openalex.org/C3017413879","wikidata":"https://www.wikidata.org/wiki/Q185553","display_name":"Phase difference","level":3,"score":0.43308448791503906},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.42266708612442017},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3754573166370392},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36734169721603394},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.35987257957458496},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34708550572395325},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2766176462173462},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385499","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385499","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1968192962","https://openalex.org/W2010278105","https://openalex.org/W2015324860","https://openalex.org/W2089876099","https://openalex.org/W2098935341","https://openalex.org/W2117635941","https://openalex.org/W2126681102","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W2049450268","https://openalex.org/W2076772710","https://openalex.org/W3163663844","https://openalex.org/W2627522194","https://openalex.org/W2046237991","https://openalex.org/W2504233681","https://openalex.org/W2946123365","https://openalex.org/W2015179278","https://openalex.org/W2390326991","https://openalex.org/W4390726246"],"abstract_inverted_index":{"It":[0],"was":[1],"clarified":[2],"that":[3,44,83,101,115],"speeding-up":[4,68],"of":[5,10,21,38,47,51,67,93,110,127,148],"passive":[6,80],"dynamic":[7],"walking":[8,103],"(PDW)":[9],"a":[11,79,116,136],"combined":[12],"rimless":[13],"wheel":[14],"(CRW)":[15],"can":[16],"be":[17],"achieved":[18],"by":[19,57,77,107],"adjustment":[20],"the":[22,26,33,36,45,48,59,65,69,73,89,95,102,108,111,125,128,146,149],"phase":[23,60,74],"difference":[24,75],"between":[25],"fore":[27],"and":[28,42,86,114,142],"rear":[29],"legs.":[30],"We":[31,99,130],"discussed":[32],"mechanism":[34],"from":[35,118],"viewpoint":[37],"overcoming":[39],"potential":[40],"barrier,":[41],"showed":[43],"trajectory":[46],"whole":[49,96],"center":[50],"mass":[52,82,113],"(CoM)":[53],"is":[54,105,152],"significantly":[55],"flattened":[56],"choosing":[58],"difference.":[61],"This":[62],"paper":[63],"investigates":[64],"potentiality":[66],"CRW":[70,157],"without":[71],"having":[72],"but":[76],"using":[78,154],"wobbling":[81,112],"vibrates":[84],"up":[85],"down":[87],"in":[88,91],"body":[90],"expectation":[92],"flattening":[94],"CoM":[97],"trajectory.":[98],"show":[100,132],"speed":[104],"increased":[106],"effect":[109],"transition":[117],"anti-phase":[119],"to":[120,139],"in-phase":[121],"oscillation":[122],"arises":[123],"with":[124],"increase":[126],"elasticity.":[129],"also":[131],"nonlinear":[133],"characteristics":[134],"such":[135],"high":[137],"sensitivity":[138],"initial":[140],"conditions":[141],"hysteresis":[143],"phenomenon.":[144],"Furthermore,":[145],"validity":[147],"simulation":[150],"results":[151],"verified":[153],"an":[155],"experimental":[156],"machine.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}