{"id":"https://openalex.org/W2563415154","doi":"https://doi.org/10.1109/iros.2016.7759325","title":"Adaptive locomotion by two types of legged robots with an actuator network system","display_name":"Adaptive locomotion by two types of legged robots with an actuator network system","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563415154","doi":"https://doi.org/10.1109/iros.2016.7759325","mag":"2563415154"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5040966252","display_name":"Hideyuki Ryu","orcid":null},"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":"Hideyuki Ryu","raw_affiliation_strings":["Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031749767","display_name":"Yoshihiro Nakata","orcid":"https://orcid.org/0000-0003-2102-9358"},"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":"Yoshihiro Nakata","raw_affiliation_strings":["Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011580159","display_name":"Yutaka Nakamura","orcid":"https://orcid.org/0000-0001-6307-5104"},"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":"Yutaka Nakamura","raw_affiliation_strings":["Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101425832","display_name":"Hiroshi Ishiguro","orcid":"https://orcid.org/0000-0002-0805-7648"},"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":"Hiroshi Ishiguro","raw_affiliation_strings":["Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2069","last_page":"2074"},"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/T12810","display_name":"Real-time simulation and control systems","score":0.9966999888420105,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.824063777923584},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7206169366836548},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6022811532020569},{"id":"https://openalex.org/keywords/connection","display_name":"Connection (principal bundle)","score":0.5977248549461365},{"id":"https://openalex.org/keywords/interconnection","display_name":"Interconnection","score":0.5635513067245483},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5462621450424194},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4855074882507324},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47121232748031616},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4399912357330322},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43920326232910156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4376918375492096},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.35971376299858093},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26247042417526245},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2602814733982086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22766026854515076},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.0765489935874939}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.824063777923584},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7206169366836548},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6022811532020569},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.5977248549461365},{"id":"https://openalex.org/C123745756","wikidata":"https://www.wikidata.org/wiki/Q1665949","display_name":"Interconnection","level":2,"score":0.5635513067245483},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5462621450424194},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4855074882507324},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47121232748031616},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4399912357330322},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43920326232910156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4376918375492096},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.35971376299858093},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26247042417526245},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2602814733982086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22766026854515076},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0765489935874939},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2016.7759325","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759325","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":14,"referenced_works":["https://openalex.org/W1558521349","https://openalex.org/W1589503602","https://openalex.org/W1977655452","https://openalex.org/W1984929297","https://openalex.org/W1997543377","https://openalex.org/W2023869318","https://openalex.org/W2029058516","https://openalex.org/W2069203594","https://openalex.org/W2094056936","https://openalex.org/W2094496385","https://openalex.org/W2204738961","https://openalex.org/W4214746323","https://openalex.org/W4231327205","https://openalex.org/W6687740012"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880","https://openalex.org/W3110580084"],"abstract_inverted_index":{"Locomotion":[0],"on":[1,97],"the":[2,40,54,65,75,98,118,127,133],"rough":[3],"and":[4,67],"variable":[5],"ground":[6],"surfaces":[7],"is":[8,37,44,48,106],"crucial":[9],"for":[10],"robots":[11,24,119],"to":[12,25,52,63,108,120,126],"complete":[13],"various":[14,60],"tasks.":[15],"Recent":[16],"advancement":[17],"in":[18,27],"numerical":[19],"computation":[20],"allow":[21],"such":[22],"locomotive":[23],"manipulate":[26],"real":[28],"environments":[29],"using":[30],"a":[31],"model-based":[32],"control":[33],"framework.":[34],"This":[35],"approach":[36],"successful":[38],"if":[39],"precise":[41,55],"model":[42,56],"it":[43,47],"obtained.":[45],"However,":[46],"not":[49,122],"always":[50],"feasible":[51],"use":[53],"because":[57],"there":[58],"are":[59],"factors":[61],"related":[62],"both":[64],"robot":[66,83],"its":[68,87],"surroundings.":[69],"In":[70],"this":[71],"paper,":[72],"we":[73],"report":[74],"locomotion":[76,125],"experiments":[77],"with":[78],"2":[79],"types":[80],"of":[81,112,132],"legged":[82],"that":[84],"can":[85],"change":[86],"behavior":[88],"by":[89],"switching":[90,115],"connection":[91,116],"patterns":[92],"among":[93],"hydraulic":[94],"cylinders":[95],"mounted":[96],"robot's":[99],"legs.":[100],"An":[101],"actuator":[102],"network":[103],"system":[104],"(ANS)":[105],"used":[107],"switch":[109],"mutual":[110],"interconnection":[111],"cylinders.":[113],"The":[114],"allows":[117],"realize":[121],"only":[123],"adaptive":[124],"environment":[128],"but":[129],"also":[130],"operation":[131],"traveling":[134],"direction.":[135]},"counts_by_year":[{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
