{"id":"https://openalex.org/W2087726779","doi":"https://doi.org/10.1109/iros.2012.6385774","title":"Locomotion selection of Multi-Locomotion Robot based on Falling Risk and moving efficiency","display_name":"Locomotion selection of Multi-Locomotion Robot based on Falling Risk and moving efficiency","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2087726779","doi":"https://doi.org/10.1109/iros.2012.6385774","mag":"2087726779"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385774","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":"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/A5051304187","display_name":"Taisuke Kobayashi","orcid":"https://orcid.org/0000-0002-3760-249X"},"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":"Taisuke Kobayashi","raw_affiliation_strings":["Department of Mechanical Engineering, Nagoya University, Nagoya, Japan","Department of Mechanical Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603 JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Nagoya University, Furo-cho, 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, Nagoya University, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","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, Nagoya University, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","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, Nagoya University, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","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":["Department of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","Department of Systems and Information Engineering, University of Tsukuba, 1-1-1, Tennodai, 305-8573, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems and Information Engineering, University of Tsukuba, Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Department of Systems and Information Engineering, University of Tsukuba, 1-1-1, Tennodai, 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, Nagoya University, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho, Chikusa-ku, 464-8603, JAPAN#TAB#","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":2.5822,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.89196643,"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":"2869","last_page":"2874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9926000237464905,"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/falling","display_name":"Falling (accident)","score":0.8266366124153137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7267336845397949},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5778883099555969},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5330153107643127},{"id":"https://openalex.org/keywords/markov-process","display_name":"Markov process","score":0.47968506813049316},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4679006338119507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4240909814834595},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.41949397325515747},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3707921504974365},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36486709117889404},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2120339274406433},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18299230933189392},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10736623406410217}],"concepts":[{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.8266366124153137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7267336845397949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778883099555969},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5330153107643127},{"id":"https://openalex.org/C159886148","wikidata":"https://www.wikidata.org/wiki/Q176645","display_name":"Markov process","level":2,"score":0.47968506813049316},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4679006338119507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4240909814834595},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.41949397325515747},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3707921504974365},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36486709117889404},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2120339274406433},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18299230933189392},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10736623406410217},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385774","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385774","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W597379969","https://openalex.org/W1976773072","https://openalex.org/W1980417234","https://openalex.org/W2002803749","https://openalex.org/W2029379062","https://openalex.org/W2054186704","https://openalex.org/W2054718149","https://openalex.org/W2081469022","https://openalex.org/W2108693505","https://openalex.org/W2112817830","https://openalex.org/W2123719714","https://openalex.org/W2153356365","https://openalex.org/W2153947321","https://openalex.org/W2519360941","https://openalex.org/W6682802936"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2940850594","https://openalex.org/W4361230927","https://openalex.org/W3029431726"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3],"a":[4,55,72],"method":[5],"of":[6,35],"locomotion":[7,63,88],"selection":[8,49],"based":[9],"on":[10],"Falling":[11,30,37],"Risk":[12,31,38],"and":[13,59],"moving":[14,93],"efficiency.":[15,94],"The":[16,26],"robot":[17,27,75],"estimates":[18],"information":[19,43],"from":[20,41],"sensors":[21],"by":[22,44,66,86],"solving":[23],"state":[24],"equation.":[25],"evaluates":[28],"the":[29,60,68,74,79,91],"as":[32,54],"an":[33],"indicator":[34],"uncertainty.":[36],"is":[39,52,64,82],"derived":[40],"measured":[42],"using":[45,67],"Bayesian":[46],"Network.":[47],"Locomotion":[48],"during":[50],"walking":[51],"modeled":[53],"Semi-Markov":[56],"Decision":[57],"Process":[58],"most":[61],"appropriate":[62],"selected":[65],"greedy":[69],"algorithm.":[70],"As":[71],"result,":[73],"can":[76],"move":[77],"in":[78],"environment":[80],"that":[81],"difficult":[83],"to":[84],"travel":[85],"single":[87],"mode,":[89],"maintaining":[90],"maximum":[92]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}