{"id":"https://openalex.org/W2909989363","doi":"https://doi.org/10.1109/iros.2018.8594055","title":"Jet-HR1: Stepping Posture Optimization for Bipedal Robot Over Large Ditch Based on a Ducted-fan Propulsion System","display_name":"Jet-HR1: Stepping Posture Optimization for Bipedal Robot Over Large Ditch Based on a Ducted-fan Propulsion System","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909989363","doi":"https://doi.org/10.1109/iros.2018.8594055","mag":"2909989363"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5066048116","display_name":"Biao Liu","orcid":"https://orcid.org/0000-0002-1519-4712"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Biao Liu","raw_affiliation_strings":["Guangdong University of Technology, School of Automation, Guangzhou, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology, School of Automation, Guangzhou, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031896600","display_name":"Zhifeng Huang","orcid":"https://orcid.org/0000-0003-0632-1027"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhifeng Huang","raw_affiliation_strings":["Guangdong University of Technology, School of Automation, Guangzhou, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology, School of Automation, Guangzhou, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069301500","display_name":"Jiapeng Wei","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jiapeng Wei","raw_affiliation_strings":["University of Tokyo, Center for Engineering (RACE), Chiba, 277-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tokyo, Center for Engineering (RACE), Chiba, 277-8568, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049608012","display_name":"Chaoyang Shi","orcid":"https://orcid.org/0000-0002-9065-9057"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Shi","raw_affiliation_strings":["Tianjin University, Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin, 300072, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin University, Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, School of Mechanical Engineering, Tianjin, 300072, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037920030","display_name":"Jun Ota","orcid":"https://orcid.org/0000-0002-4738-2275"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Ota","raw_affiliation_strings":["University of Tokyo, Center for Engineering (RACE), Chiba, 277-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tokyo, Center for Engineering (RACE), Chiba, 277-8568, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100356824","display_name":"Yun Zhang","orcid":"https://orcid.org/0000-0002-8085-3454"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zhang","raw_affiliation_strings":["Guangdong University of Technology, School of Automation, Guangzhou, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Guangdong University of Technology, School of Automation, Guangzhou, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.223,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.55087137,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"6010","last_page":"6015"},"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":0.996999979019165,"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":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.6776023507118225},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.6532126665115356},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6390302181243896},{"id":"https://openalex.org/keywords/ditch","display_name":"Ditch","score":0.5912061333656311},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5826492309570312},{"id":"https://openalex.org/keywords/jet-propulsion","display_name":"Jet propulsion","score":0.5059201121330261},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4919133186340332},{"id":"https://openalex.org/keywords/jet","display_name":"Jet (fluid)","score":0.4895819127559662},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.46360906958580017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43885400891304016},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.438424289226532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43561428785324097},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23009273409843445}],"concepts":[{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.6776023507118225},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.6532126665115356},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6390302181243896},{"id":"https://openalex.org/C2778572946","wikidata":"https://www.wikidata.org/wiki/Q2048319","display_name":"Ditch","level":2,"score":0.5912061333656311},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5826492309570312},{"id":"https://openalex.org/C2780951926","wikidata":"https://www.wikidata.org/wiki/Q3522973","display_name":"Jet propulsion","level":2,"score":0.5059201121330261},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4919133186340332},{"id":"https://openalex.org/C119947313","wikidata":"https://www.wikidata.org/wiki/Q5596635","display_name":"Jet (fluid)","level":2,"score":0.4895819127559662},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.46360906958580017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43885400891304016},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.438424289226532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43561428785324097},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23009273409843445},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594055","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W45524026","https://openalex.org/W566530810","https://openalex.org/W1973195195","https://openalex.org/W1974633672","https://openalex.org/W1989732031","https://openalex.org/W1997138910","https://openalex.org/W2060860466","https://openalex.org/W2077577724","https://openalex.org/W2114171536","https://openalex.org/W2122378029","https://openalex.org/W2157439755","https://openalex.org/W2167080649","https://openalex.org/W2206209166","https://openalex.org/W2225813005","https://openalex.org/W2314157495","https://openalex.org/W2526108014","https://openalex.org/W2540132834","https://openalex.org/W2566210125","https://openalex.org/W2784123835","https://openalex.org/W3136837693","https://openalex.org/W6615879740","https://openalex.org/W6665447176"],"related_works":["https://openalex.org/W2058637570","https://openalex.org/W2765172718","https://openalex.org/W2359162233","https://openalex.org/W2040174473","https://openalex.org/W765218636","https://openalex.org/W4243590186","https://openalex.org/W2136381818","https://openalex.org/W2393540044","https://openalex.org/W2170158413","https://openalex.org/W2750966250"],"abstract_inverted_index":{"This":[0,35],"paper":[1],"reports":[2],"the":[3,32,39,43,55,61,64,71,97],"latest":[4],"progress":[5],"of":[6,41,96,105],"an":[7],"ongoing":[8],"project":[9],"utilizing":[10],"a":[11,17,24,28,86,102],"ducted-fan":[12],"propulsion":[13],"system":[14],"to":[15,21,49,82,94],"improve":[16],"humanoid":[18],"robot's":[19,98],"ability":[20],"step":[22,84],"over":[23,60,85],"broad":[25,87],"ditch":[26,88],"with":[27,89],"height":[29,103],"difference":[30,104],"between":[31,107],"two":[33,108],"sides.":[34,109],"work":[36],"focuses":[37],"on":[38],"methods":[40,66],"calculating":[42],"boundary":[44],"and":[45,53,67,101],"optimizing":[46],"stepping":[47,59],"posture":[48],"use":[50],"less":[51],"thrust":[52],"keep":[54],"robot":[56],"balanced":[57],"while":[58],"ditch.":[62],"With":[63],"proposed":[65],"new":[68],"two-dimensional":[69],"gaits,":[70],"prototype":[72],"robot,":[73],"named":[74],"Jet-HRl":[75],"(Jet":[76],"Humanoid":[77],"Robot":[78],"ver.l)":[79],"was":[80],"able":[81],"completely":[83],"450mm":[90],"in":[91],"width":[92],"(up":[93],"97%":[95],"leg's":[99],"length),":[100],"100mm":[106]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}