{"id":"https://openalex.org/W2029393028","doi":"https://doi.org/10.1109/iros.2012.6385618","title":"Resonance based multi-gaited robot locomotion","display_name":"Resonance based multi-gaited robot locomotion","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2029393028","doi":"https://doi.org/10.1109/iros.2012.6385618","mag":"2029393028"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385618","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/A5113550758","display_name":"Nandan Maheshwari","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nandan Maheshwari","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101408328","display_name":"Xiaoxiang Yu","orcid":"https://orcid.org/0009-0005-1993-1096"},"institutions":[{"id":"https://openalex.org/I202697423","display_name":"University of Zurich","ror":"https://ror.org/02crff812","country_code":"CH","type":"education","lineage":["https://openalex.org/I202697423"]},{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Xiaoxiang Yu","raw_affiliation_strings":["Artificial Intelligence laboratory, Department of Informatics, University of Zurich, Zurich, Switzerland","Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artificial Intelligence laboratory, Department of Informatics, University of Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I202697423"]},{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210123353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024876801","display_name":"Murat Reis","orcid":"https://orcid.org/0000-0001-5853-488X"},"institutions":[{"id":"https://openalex.org/I131835042","display_name":"Bursa Uluda\u011f \u00dcni\u0307versi\u0307tesi\u0307","ror":"https://ror.org/03tg3eb07","country_code":"TR","type":"education","lineage":["https://openalex.org/I131835042"]},{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH","TR"],"is_corresponding":false,"raw_author_name":"Murat Reis","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland","Department of Mechanical Engineering, Uludag University, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210123353"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Uludag University, Turkey","institution_ids":["https://openalex.org/I131835042"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]},{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Laboratory (BIRL), Institute of Robotics and Intelligent Systems, Swiss Federal Institute of Technology, Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864","https://openalex.org/I4210123353"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2426,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.78806914,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"21","issue":null,"first_page":"169","last_page":"174"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9878000020980835,"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/robot","display_name":"Robot","score":0.7977373600006104},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7035359144210815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6419361233711243},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.551367998123169},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.5329853892326355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45684847235679626},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3863127529621124},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3760192394256592},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34453797340393066},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07574567198753357}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7977373600006104},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7035359144210815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6419361233711243},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.551367998123169},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.5329853892326355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45684847235679626},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3863127529621124},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3760192394256592},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34453797340393066},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07574567198753357},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6385618","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385618","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"},{"id":"pmh:8969fe2a-07d0-4c83-8d6d-799e5a00fb31","is_oa":false,"landing_page_url":"https://avesis.uludag.edu.tr/publication/details/8969fe2a-07d0-4c83-8d6d-799e5a00fb31/oai","pdf_url":null,"source":{"id":"https://openalex.org/S7407055210","display_name":"Bursa Uludag University - AVESIS","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1535702775","https://openalex.org/W1967246448","https://openalex.org/W1989796457","https://openalex.org/W2001435224","https://openalex.org/W2008342119","https://openalex.org/W2029058516","https://openalex.org/W2038873597","https://openalex.org/W2040495451","https://openalex.org/W2077676902","https://openalex.org/W2078139367","https://openalex.org/W2090252028","https://openalex.org/W2091556617","https://openalex.org/W2107254323","https://openalex.org/W2151941344","https://openalex.org/W2169357327","https://openalex.org/W2326387853","https://openalex.org/W2339009915","https://openalex.org/W4249937648","https://openalex.org/W6832106092"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W4210919297"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,40,70],"understand":[3],"the":[4,23,41],"underlying":[5],"mechanisms":[6,93],"of":[7,25,43,49,53,57,61],"animals'":[8],"agility,":[9],"dexterity":[10],"and":[11,30,66,83,86],"efficiency":[12],"in":[13,22,28,100],"motor":[14],"control,":[15],"there":[16],"has":[17],"been":[18],"an":[19],"increasing":[20],"interest":[21],"study":[24,42],"gait":[26,44,73,98],"patterns":[27,45,99],"biological":[29],"artificial":[31],"legged":[32],"systems.":[33,55],"This":[34],"paper":[35],"presents":[36],"a":[37,62,77],"novel":[38],"approach":[39],"which":[46],"makes":[47],"use":[48],"intrinsic":[50],"mechanical":[51],"dynamics":[52],"robotic":[54],"Each":[56],"these":[58,81,101],"robots":[59],"consists":[60],"U-shape":[63],"elastic":[64],"beam":[65],"exploits":[67],"free":[68],"vibration":[69],"generate":[71],"different":[72,97],"patterns.":[74],"We":[75],"developed":[76],"conceptual":[78],"model":[79],"for":[80,94],"robots,":[82],"through":[84],"simulation":[85],"real-world":[87],"experiments,":[88],"we":[89],"show":[90],"three":[91],"distinct":[92],"generating":[95],"four":[96],"robots.":[102]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}