{"id":"https://openalex.org/W1978999578","doi":"https://doi.org/10.1109/iros.2012.6385768","title":"Dynamic horizontal movement of a bipedal robot using frictional asymmetry","display_name":"Dynamic horizontal movement of a bipedal robot using frictional asymmetry","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1978999578","doi":"https://doi.org/10.1109/iros.2012.6385768","mag":"1978999578"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385768","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/A5020949070","display_name":"Taku Senoo","orcid":"https://orcid.org/0000-0002-8531-1590"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Taku Senoo","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022107113","display_name":"Mitsuhiro Takano","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuhiro Takano","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010897098","display_name":"Masatoshi Ishikawa","orcid":"https://orcid.org/0000-0002-6096-830X"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masatoshi Ishikawa","raw_affiliation_strings":["Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"affiliations":[{"raw_affiliation_string":"Dept. of Creative Informatics, Graduate School of Information Science and Technology, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020949070"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":1.2102,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77620813,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1834","last_page":"1839"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9923999905586243,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9922999739646912,"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/asymmetry","display_name":"Asymmetry","score":0.6867642402648926},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6577675342559814},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.5399269461631775},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46646416187286377},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44417789578437805},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.396215558052063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34589651226997375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24214264750480652},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.12757182121276855},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.053773850202560425}],"concepts":[{"id":"https://openalex.org/C38976095","wikidata":"https://www.wikidata.org/wiki/Q752641","display_name":"Asymmetry","level":2,"score":0.6867642402648926},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6577675342559814},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.5399269461631775},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46646416187286377},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44417789578437805},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.396215558052063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34589651226997375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24214264750480652},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.12757182121276855},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.053773850202560425},{"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.2012.6385768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385768","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2102380529","https://openalex.org/W2106300679","https://openalex.org/W2107063340","https://openalex.org/W2116173495","https://openalex.org/W2129629060","https://openalex.org/W2141377539","https://openalex.org/W2150034870","https://openalex.org/W2150921169","https://openalex.org/W2166950571","https://openalex.org/W2171570677","https://openalex.org/W4242875786"],"related_works":["https://openalex.org/W3102935140","https://openalex.org/W1644661642","https://openalex.org/W1980563100","https://openalex.org/W4297670902","https://openalex.org/W2065779551","https://openalex.org/W2050217822","https://openalex.org/W2035154026","https://openalex.org/W2064827254","https://openalex.org/W1774647552","https://openalex.org/W1971030811"],"abstract_inverted_index":{"In":[0,52],"this":[1],"paper,":[2],"dynamic":[3,14],"horizontal":[4],"movement":[5,21],"is":[6],"considered":[7],"with":[8,78],"the":[9,54,59,81],"goal":[10],"of":[11,33,48],"achieving":[12],"high-speed":[13,86],"leg":[15],"motion.":[16],"We":[17],"propose":[18],"a":[19,34,42,69],"new":[20],"principle":[22],"using":[23],"frictional":[24],"asymmetry":[25],"for":[26,80],"legged":[27],"robots.":[28],"This":[29],"motion":[30,36,44,55],"strategy":[31],"consists":[32],"sliding":[35],"based":[37,57],"on":[38,58],"kinematic":[39],"constraints":[40],"and":[41],"jumping":[43],"which":[45,68],"makes":[46],"use":[47],"lightweight":[49],"high-torque":[50],"motors.":[51],"addition,":[53],"characteristics":[56],"dynamics":[60],"are":[61,65],"analyzed.":[62],"Experimental":[63],"results":[64],"shown":[66],"in":[67],"2-DOF":[70],"bipedal":[71],"robot":[72],"takes":[73],"short":[74],"rapid":[75],"repetitive":[76],"steps":[77],"compensation":[79],"landing":[82],"time":[83],"controlled":[84],"by":[85],"visual":[87],"feedback.":[88]},"counts_by_year":[{"year":2017,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
