{"id":"https://openalex.org/W2019036072","doi":"https://doi.org/10.1109/iros.2012.6385816","title":"Emergence and motion analysis of 3D quasi-passive dynamic walking by excitation of lateral rocking","display_name":"Emergence and motion analysis of 3D quasi-passive dynamic walking by excitation of lateral rocking","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2019036072","doi":"https://doi.org/10.1109/iros.2012.6385816","mag":"2019036072"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385816","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/A5021249199","display_name":"Daisuke NAKANISHI","orcid":"https://orcid.org/0000-0002-4408-6876"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daisuke Nakanishi","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051623818","display_name":"Yuichiro SUEOKA","orcid":"https://orcid.org/0000-0002-5716-6365"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichiro Sueoka","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068924159","display_name":"Yasuhiro Sugimoto","orcid":"https://orcid.org/0000-0001-8068-3777"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhiro Sugimoto","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029318565","display_name":"Masato Ishikawa","orcid":"https://orcid.org/0000-0003-3652-196X"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masato Ishikawa","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086080989","display_name":"Koichi Osuka","orcid":"https://orcid.org/0000-0002-1882-1697"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Osuka","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Suita, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Osaka Univ. 2-1, Yamadaoka, Suita, 565-0871, JAPAN","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039658736","display_name":"Yoshiyuki Sankai","orcid":"https://orcid.org/0000-0002-6345-1541"},"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":"Yoshiyuki Sankai","raw_affiliation_strings":["Department of System and Information Engineering, University of Tsukuba, Japan","Dept. of System & Information Eng., Univ. of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System and Information Engineering, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Dept. of System & Information Eng., Univ. of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4142,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.64218342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"19","issue":null,"first_page":"2769","last_page":"2774"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.989300012588501,"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":0.9714000225067139,"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/excitation","display_name":"Excitation","score":0.6917619705200195},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5586087107658386},{"id":"https://openalex.org/keywords/motion-analysis","display_name":"Motion analysis","score":0.4730764329433441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4373883605003357},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.393901526927948},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3396413028240204},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2674403190612793},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.14464053511619568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13195952773094177}],"concepts":[{"id":"https://openalex.org/C83581075","wikidata":"https://www.wikidata.org/wiki/Q1361503","display_name":"Excitation","level":2,"score":0.6917619705200195},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5586087107658386},{"id":"https://openalex.org/C2777036941","wikidata":"https://www.wikidata.org/wiki/Q6917771","display_name":"Motion analysis","level":2,"score":0.4730764329433441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4373883605003357},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.393901526927948},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3396413028240204},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2674403190612793},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.14464053511619568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13195952773094177},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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.2012.6385816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385816","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1487434675","https://openalex.org/W1996763811","https://openalex.org/W2074686910","https://openalex.org/W2116512180","https://openalex.org/W2119105564","https://openalex.org/W2140830263","https://openalex.org/W2155747544","https://openalex.org/W2156346336","https://openalex.org/W2163668399","https://openalex.org/W2572179404","https://openalex.org/W2577523912","https://openalex.org/W6680796800"],"related_works":["https://openalex.org/W2055991023","https://openalex.org/W2104332279","https://openalex.org/W1978569796","https://openalex.org/W176798505","https://openalex.org/W2046491844","https://openalex.org/W2144481990","https://openalex.org/W2377635007","https://openalex.org/W2108395053","https://openalex.org/W2020434089","https://openalex.org/W1969019224"],"abstract_inverted_index":{"Human":[0],"is":[1,132],"capable":[2,53],"of":[3,21,37,54,78,81,86,137],"adaptive":[4],"and":[5,18,89,128],"supple":[6],"locomotion":[7],"in":[8,105],"the":[9,27,35,59,72,76,79,84,87,115,135],"real":[10],"world":[11],"characterized":[12],"by":[13,34,102],"rapid":[14],"changes,":[15],"high":[16],"uncertainly,":[17],"limited":[19],"availability":[20],"information.":[22],"In":[23,92],"order":[24],"to":[25,134],"understand":[26],"human":[28,62],"walking,":[29],"this":[30,93,120],"work":[31],"was":[32],"motivated":[33],"concept":[36],"passive":[38],"dynamic":[39,99],"walking":[40,100],"robots,":[41],"which":[42],"have":[43],"no":[44],"actuation":[45],"or":[46],"control":[47],"system":[48],"except":[49],"for":[50],"gravity":[51],"are":[52],"stable,":[55],"human-looking":[56],"walking.":[57],"On":[58],"other":[60],"hand,":[61],"can":[63,122],"produce":[64],"a":[65,95,125,129],"stepping":[66],"motion":[67,85,104],"not":[68],"only":[69],"depend":[70],"on":[71,124],"legs,":[73],"but":[74],"also":[75],"rotation":[77],"Center":[80],"Mass,":[82],"arm-swing,":[83],"torso":[88],"so":[90],"on.":[91],"paper,":[94],"three":[96],"dimensional":[97],"quasi-passive":[98],"provoked":[101],"rocking":[103],"lateral":[106,138],"plane":[107],"has":[108],"been":[109],"investigated.":[110],"The":[111],"behavioral":[112],"analyses":[113],"with":[114],"robot":[116,121],"experiments":[117],"show":[118],"that":[119],"walk":[123],"flat":[126],"ground":[127],"gait":[130],"speed":[131],"related":[133],"period":[136],"rocking.":[139]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}