{"id":"https://openalex.org/W2083875135","doi":"https://doi.org/10.1109/iros.2013.6697231","title":"Development of lightweight sprawling-type quadruped robot TITAN-XIII and its dynamic walking","display_name":"Development of lightweight sprawling-type quadruped robot TITAN-XIII and its dynamic walking","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2083875135","doi":"https://doi.org/10.1109/iros.2013.6697231","mag":"2083875135"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100663987/ATD100000413/","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060232341","display_name":"Satoshi Kitano","orcid":"https://orcid.org/0000-0001-6037-4723"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Kitano","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gen Endo","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075377931","display_name":"Edwardo F. Fukushima","orcid":"https://orcid.org/0000-0001-8822-8154"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Edwardo F. Fukushima","raw_affiliation_strings":["Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Aerospace Engineering, Tokyo Institute of Technology, Meguroku, Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"Dept. of Mechano-Aerosp. Eng., Tokyo Inst. of Technol., Tokyo, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":7.5439,"has_fulltext":true,"cited_by_count":46,"citation_normalized_percentile":{"value":0.97944588,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"6025","last_page":"6030"},"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":0.993399977684021,"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":0.9905999898910522,"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/titan","display_name":"Titan (rocket family)","score":0.649668276309967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6067960858345032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5700618624687195},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.25558239221572876},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18871834874153137},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17097976803779602}],"concepts":[{"id":"https://openalex.org/C50805821","wikidata":"https://www.wikidata.org/wiki/Q1136670","display_name":"Titan (rocket family)","level":2,"score":0.649668276309967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6067960858345032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5700618624687195},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.25558239221572876},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18871834874153137},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17097976803779602}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2013.6697231","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697231","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:t2r2.star.titech.ac.jp:50224724","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100663987","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100663987/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"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":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:t2r2.star.titech.ac.jp:50224724","is_oa":true,"landing_page_url":"http://t2r2.star.titech.ac.jp/cgi-bin/publicationinfo.cgi?q_publication_content_number=CTT100663987","pdf_url":"http://t2r2.star.titech.ac.jp/rrws/file/CTT100663987/ATD100000413/","source":{"id":"https://openalex.org/S4377196385","display_name":"Tokyo Tech Research Repository (Tokyo Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114531698","host_organization_name":"Tokyo Institute of Technology","host_organization_lineage":["https://openalex.org/I114531698"],"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":"Conference Paper"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5899999737739563}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2083875135.pdf","grobid_xml":"https://content.openalex.org/works/W2083875135.grobid-xml"},"referenced_works_count":12,"referenced_works":["https://openalex.org/W1532797516","https://openalex.org/W1975230295","https://openalex.org/W1979467869","https://openalex.org/W2101323812","https://openalex.org/W2101430700","https://openalex.org/W2102602081","https://openalex.org/W2105869899","https://openalex.org/W2111904757","https://openalex.org/W2151182239","https://openalex.org/W2323734757","https://openalex.org/W3153915866","https://openalex.org/W6644135095"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2408545863","https://openalex.org/W643179351","https://openalex.org/W2740469715","https://openalex.org/W2905265805","https://openalex.org/W2162805293","https://openalex.org/W2013629274","https://openalex.org/W2064207836"],"abstract_inverted_index":{"In":[0],"this":[1,83],"paper,":[2],"we":[3,45,65,86,119,122],"discuss":[4],"the":[5,8,33,48,89,92,95,105,140],"development":[6],"of":[7,55,59,82,94,104],"sprawling-type":[9],"quadruped":[10,23],"robot":[11,24,35,106],"named":[12],"\u201cTITAN-XIII\u201d":[13],"and":[14,57,109,143],"its":[15,99,144],"dynamic":[16,28,116],"walking":[17,117],"algorithm.":[18],"We":[19],"develop":[20],"an":[21,42],"experimental":[22,43],"especially":[25],"designed":[26],"for":[27],"walking.":[29],"Unlike":[30],"dog-like":[31],"robots,":[32],"prototype":[34],"looks":[36],"like":[37],"a":[38,67,71,115],"four-legged":[39],"spider.":[40],"As":[41,114],"robot,":[44,142],"focus":[46],"on":[47],"three":[49],"basic":[50],"concepts:":[51],"lightweight,":[52],"wide":[53],"range":[54],"motion":[56],"ease":[58],"maintenance.":[60],"To":[61],"achieve":[62],"these":[63],"goals,":[64],"introduce":[66],"wire-driven":[68,84],"mechanism":[69],"using":[70],"synthetic":[72],"fiber":[73],"to":[74,77,131],"transmit":[75],"power":[76],"each":[78,102],"axis":[79],"making":[80],"use":[81],"mechanism,":[85],"can":[87,110],"locate":[88],"motors":[90],"at":[91],"base":[93],"leg,":[96],"reducing,":[97],"consequently,":[98],"inertia.":[100],"Additionally,":[101],"part":[103],"is":[107],"unitized,":[108],"be":[111],"easily":[112],"disassembled.":[113],"algorithm,":[118],"proposed":[120],"what":[121],"call":[123],"\u201clongitudinal":[124],"acceleration":[125],"trajectory\u201d.":[126],"This":[127],"trajectory":[128],"was":[129,137,146],"applied":[130],"intermittent":[132],"trot":[133],"gait.":[134],"The":[135],"algorithm":[136],"tested":[138],"with":[139],"developed":[141],"performance":[145],"confirmed":[147],"through":[148],"experiments.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":5},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
