{"id":"https://openalex.org/W1981926780","doi":"https://doi.org/10.1109/iros.2012.6385887","title":"Optimal control of energetically efficient ladder decent motion with internal stress adjustment using key joint method","display_name":"Optimal control of energetically efficient ladder decent motion with internal stress adjustment using key joint method","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1981926780","doi":"https://doi.org/10.1109/iros.2012.6385887","mag":"1981926780"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385887","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/A5020992815","display_name":"Zhiguo L\u00fc","orcid":"https://orcid.org/0000-0003-1003-9876"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiguo Lu","raw_affiliation_strings":["Department of Mechanical Engineering and Automation, Northeastern University, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Automation, Northeastern University, China","institution_ids":["https://openalex.org/I9224756"]}]},{"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-1, Chikusa-ku, 464-8603, JAPAN"],"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-1, 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-1, Chikusa-ku, 464-8603, JAPAN"],"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-1, Chikusa-ku, 464-8603, JAPAN","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 Tenodai, 305-8573, JAPAN"],"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 Tenodai, 305-8573, JAPAN","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","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 Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan","Department of Micro-Nano Systems Engineering, Nagoya University, Furo-cho-1, Chikusa-ku, 464-8603, JAPAN"],"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-1, Chikusa-ku, 464-8603, JAPAN","institution_ids":["https://openalex.org/I60134161"]}]},{"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-1, Chikusa-ku, 464-8603, JAPAN"],"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-1, Chikusa-ku, 464-8603, JAPAN","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5020992815"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.563,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.71874443,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"307","issue":null,"first_page":"2216","last_page":"2221"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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/joint","display_name":"Joint (building)","score":0.6544436812400818},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6510450839996338},{"id":"https://openalex.org/keywords/stress","display_name":"Stress (linguistics)","score":0.6346386075019836},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5493464469909668},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.49934887886047363},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4800606667995453},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4513513147830963},{"id":"https://openalex.org/keywords/internal-stress","display_name":"Internal stress","score":0.42384713888168335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40965592861175537},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2992601692676544},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2581098973751068},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18627524375915527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18378812074661255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12786507606506348},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.12298497557640076},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.06859764456748962}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6544436812400818},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6510450839996338},{"id":"https://openalex.org/C21036866","wikidata":"https://www.wikidata.org/wiki/Q181767","display_name":"Stress (linguistics)","level":2,"score":0.6346386075019836},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5493464469909668},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.49934887886047363},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4800606667995453},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4513513147830963},{"id":"https://openalex.org/C2988361403","wikidata":"https://www.wikidata.org/wiki/Q206175","display_name":"Internal stress","level":2,"score":0.42384713888168335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40965592861175537},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2992601692676544},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2581098973751068},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18627524375915527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18378812074661255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12786507606506348},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.12298497557640076},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.06859764456748962},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385887","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385887","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/7","display_name":"Affordable and clean energy","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1584756238","https://openalex.org/W1592585789","https://openalex.org/W2016958754","https://openalex.org/W2029058516","https://openalex.org/W2112405625","https://openalex.org/W2115659120","https://openalex.org/W2122764771","https://openalex.org/W2130249846","https://openalex.org/W2131232094","https://openalex.org/W2134148448","https://openalex.org/W2169714460","https://openalex.org/W2169791696","https://openalex.org/W2419281883","https://openalex.org/W4234057804","https://openalex.org/W6635729737"],"related_works":["https://openalex.org/W1996130883","https://openalex.org/W2748574964","https://openalex.org/W2888483922","https://openalex.org/W4396737233","https://openalex.org/W2367747139","https://openalex.org/W4391102217","https://openalex.org/W2566187525","https://openalex.org/W2566334511","https://openalex.org/W2367150592","https://openalex.org/W2887658699"],"abstract_inverted_index":{"For":[0],"multi-contact":[1,114,164],"robot":[2,10,97,115],"motion,":[3],"a":[4,18,36,62,71,83,103],"closed":[5,37],"chain":[6],"is":[7,67,86,107,135,155],"formed":[8],"by":[9,30,69],"links":[11],"and":[12,52,99,121,141],"the":[13,27,42,47,53,96,118,129,139,144,151,159,163],"environment.":[14],"This":[15],"paper":[16],"proposes":[17],"new":[19],"methodology":[20],"named":[21],"\u201ckey":[22],"joint":[23,65,76,153],"method\u201d":[24],"for":[25,88,109,157],"reducing":[26,158],"energy":[28,160],"cost":[29,161],"adjusting":[31],"an":[32,111,127],"internal":[33,43,122],"stress":[34,44,123],"inside":[35],"chain.":[38],"Firstly,":[39],"we":[40],"analyze":[41],"theoretically":[45],"taking":[46,117],"degrees":[48],"of":[49,55,91,143],"freedom":[50],"(DOF)":[51],"number":[54],"position":[56,74],"actuated":[57],"joints":[58],"into":[59,124],"consideration,":[60],"then":[61],"practical":[63],"key":[64,152],"method":[66,106,154],"proposed":[68,108,145],"changing":[70],"suitable":[72],"redundant":[73],"controlled":[75],"to":[77,95,137],"be":[78],"force":[79],"control.":[80],"After":[81],"that,":[82],"parametric":[84],"family":[85],"introduced":[87],"representing":[89],"various":[90],"possible":[92],"motions":[93],"subjected":[94],"dynamics":[98],"other":[100],"constraints.":[101],"Finally,":[102],"general":[104],"optimization":[105],"planning":[110],"energetically":[112],"efficient":[113],"motion":[116,119,134],"trajectories":[120],"consideration.":[125],"As":[126,147],"example,":[128],"pace":[130],"gait":[131],"ladder":[132],"decent":[133],"taken":[136],"explain":[138],"principle":[140],"realization":[142],"method.":[146],"experimental":[148],"evaluation":[149],"shows,":[150],"effective":[156],"in":[162],"motion.":[165]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
