{"id":"https://openalex.org/W2909712557","doi":"https://doi.org/10.1109/iros.2018.8594085","title":"Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity","display_name":"Jumping Motion Generation of a Humanoid Robot Utilizing Human-Like Joint Elasticity","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2909712557","doi":"https://doi.org/10.1109/iros.2018.8594085","mag":"2909712557"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8594085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594085","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":"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/A5050053184","display_name":"Takuya Otani","orcid":"https://orcid.org/0000-0002-5514-6037"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Otani","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, JAPAN","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Hashimoto","raw_affiliation_strings":["School of Science and Technology, Waseda University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Science and Technology, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005749267","display_name":"H. Ueta","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Ueta","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030002585","display_name":"Masanori Sakaguchi","orcid":"https://orcid.org/0000-0002-7211-9452"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. Sakaguchi","raw_affiliation_strings":["ASICS Corporation, Institute of Sport Science"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ASICS Corporation, Institute of Sport Science","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085812743","display_name":"Yasuo Kawakami","orcid":"https://orcid.org/0000-0003-0588-4039"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Kawakami","raw_affiliation_strings":["Faculty of Sport Science, Waseda University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Sport Science, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085412119","display_name":"Hun\u2010ok Lim","orcid":"https://orcid.org/0009-0001-9116-8663"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H.O. Lim","raw_affiliation_strings":["Faculty of Engineering, Waseda University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8707","last_page":"8714"},"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":0.9959999918937683,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9674000144004822,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8088711500167847},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.7629525661468506},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.69222092628479},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6448425650596619},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5787920951843262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5705351233482361},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.5247690677642822},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4877830147743225},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4876955449581146},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.48759832978248596},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48105955123901367},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4077416658401489},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37904566526412964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2687065601348877},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14296084642410278},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11149081587791443}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8088711500167847},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7629525661468506},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.69222092628479},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6448425650596619},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5787920951843262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5705351233482361},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.5247690677642822},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4877830147743225},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4876955449581146},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.48759832978248596},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48105955123901367},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4077416658401489},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37904566526412964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2687065601348877},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14296084642410278},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11149081587791443},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2018.8594085","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8594085","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":[{"score":0.47999998927116394,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1971175227","https://openalex.org/W1994970927","https://openalex.org/W2003013030","https://openalex.org/W2005730296","https://openalex.org/W2008342119","https://openalex.org/W2029394778","https://openalex.org/W2055669530","https://openalex.org/W2100329834","https://openalex.org/W2117015196","https://openalex.org/W2118290131","https://openalex.org/W2123898591","https://openalex.org/W2150529193","https://openalex.org/W2157055752","https://openalex.org/W2157439755","https://openalex.org/W2159493197","https://openalex.org/W2168936093","https://openalex.org/W2170116736","https://openalex.org/W2217410262","https://openalex.org/W2269562201","https://openalex.org/W2313462383","https://openalex.org/W2460655373","https://openalex.org/W2560382365","https://openalex.org/W2625805178","https://openalex.org/W2781545497","https://openalex.org/W4238967710","https://openalex.org/W6657667097"],"related_works":["https://openalex.org/W3124676748","https://openalex.org/W2334192603","https://openalex.org/W2382466266","https://openalex.org/W2385281849","https://openalex.org/W1591560775","https://openalex.org/W2562824280","https://openalex.org/W4229024545","https://openalex.org/W2118935785","https://openalex.org/W2512066353","https://openalex.org/W2581854855"],"abstract_inverted_index":{"To":[0,87],"improve":[1],"the":[2,76,79,117,120,126],"movement":[3,83],"ability":[4],"of":[5,9,16,27,31,119],"humanoid":[6],"robots,":[7],"instead":[8],"traditional":[10],"methods":[11],"dependent":[12],"on":[13],"only":[14],"power":[15],"actuators,":[17],"there":[18],"is":[19,33],"possibility":[20],"that":[21,49],"utilizing":[22],"elasticity":[23],"inspired":[24],"from":[25],"collaboration":[26],"muscle":[28],"and":[29,67,84,91,103,123,135],"tendon":[30],"human":[32,65],"effective":[34],"to":[35,44,115],"achieve":[36,88],"high-power":[37],"movement.":[38],"In":[39],"this":[40],"study,":[41],"we":[42,94],"aimed":[43],"realize":[45],"a":[46,71,96,108,129],"jumping":[47],"motion":[48],"accumulates":[50],"energy":[51],"more":[52],"appropriately":[53],"in":[54],"spring":[55,62],"by":[56],"combining":[57],"active":[58,81,89,133],"joint":[59,92,98],"driving":[60],"with":[61,78,107],"behavior":[63],"like":[64],"tendons":[66],"muscles.":[68],"We":[69,111],"proposed":[70,121],"countermovement":[72,130],"jump":[73,131],"method":[74],"using":[75,100,132],"resonance":[77],"leg's":[80,136],"pushing-off":[82,90],"leg":[85],"stiffness.":[86],"stiffness,":[93],"developed":[95],"new":[97],"mechanism":[99,122],"leaf":[101],"springs":[102],"an":[104],"actuator":[105],"unit":[106],"worm":[109],"gear.":[110],"then":[112],"performed":[113],"experiments":[114],"evaluate":[116],"effectiveness":[118],"methods.":[124],"Finally,":[125],"robot":[127],"achieved":[128],"kicking":[134],"elasticity.":[137]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}