{"id":"https://openalex.org/W4312350159","doi":"https://doi.org/10.1109/iros47612.2022.9981926","title":"Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model","display_name":"Construction of a Simulator to Reproduce Changes in Running due to Motion Strategies Using Spring-Loaded Inverted Pendulum Model","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312350159","doi":"https://doi.org/10.1109/iros47612.2022.9981926"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981926","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5101111682","display_name":"Masaki Kitagawa","orcid":"https://orcid.org/0000-0003-2469-0395"},"institutions":[{"id":"https://openalex.org/I205349734","display_name":"Hokkaido University","ror":"https://ror.org/02e16g702","country_code":"JP","type":"education","lineage":["https://openalex.org/I205349734"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Masaki Kitagawa","raw_affiliation_strings":["Graduate School of Information Science and Technology, Hokkaido University,Sapporo,Japan,0600814"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, Hokkaido University,Sapporo,Japan,0600814","institution_ids":["https://openalex.org/I205349734"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050981333","display_name":"Takayuki Tanaka","orcid":"https://orcid.org/0000-0002-2533-8716"},"institutions":[{"id":"https://openalex.org/I205349734","display_name":"Hokkaido University","ror":"https://ror.org/02e16g702","country_code":"JP","type":"education","lineage":["https://openalex.org/I205349734"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Tanaka","raw_affiliation_strings":["Hokkaido University,Faculty of Information Science and Technology,Japan","Faculty of Information Science and Technology, Hokkaido University, Japan"],"affiliations":[{"raw_affiliation_string":"Hokkaido University,Faculty of Information Science and Technology,Japan","institution_ids":["https://openalex.org/I205349734"]},{"raw_affiliation_string":"Faculty of Information Science and Technology, Hokkaido University, Japan","institution_ids":["https://openalex.org/I205349734"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059580603","display_name":"Akihiko Murai","orcid":"https://orcid.org/0000-0002-2035-4346"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akihiko Murai","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology,Japan","Japan Science and Technology Agency PRESTO, Japan","National Institute of Advanced Industrial Science and Technology, Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology,Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Japan Science and Technology Agency PRESTO, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101111682"],"corresponding_institution_ids":["https://openalex.org/I205349734"],"apc_list":null,"apc_paid":null,"fwci":0.6413,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.64604707,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5249","last_page":"5256"},"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":0.9958000183105469,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.984000027179718,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8778846263885498},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.8677738904953003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6469467878341675},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6160804033279419},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5668139457702637},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5264549851417542},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5073654055595398},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5042527914047241},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.49991726875305176},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.48714062571525574},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2563071846961975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2385328710079193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17685934901237488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1502663791179657},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12056413292884827},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11243143677711487},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08971521258354187},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07593709230422974}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8778846263885498},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.8677738904953003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6469467878341675},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6160804033279419},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5668139457702637},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5264549851417542},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5073654055595398},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5042527914047241},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.49991726875305176},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.48714062571525574},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2563071846961975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2385328710079193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17685934901237488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1502663791179657},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12056413292884827},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11243143677711487},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08971521258354187},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07593709230422974},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981926","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G2298633617","display_name":null,"funder_award_id":"JPMJPR19JA","funder_id":"https://openalex.org/F4320320907","funder_display_name":"Japan Science and Technology Corporation"}],"funders":[{"id":"https://openalex.org/F4320320907","display_name":"Japan Science and Technology Corporation","ror":"https://ror.org/00097mb19"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1980487315","https://openalex.org/W1982658303","https://openalex.org/W1991538995","https://openalex.org/W2000880334","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2010026582","https://openalex.org/W2020656842","https://openalex.org/W2030091135","https://openalex.org/W2037997802","https://openalex.org/W2039591281","https://openalex.org/W2055500823","https://openalex.org/W2079705977","https://openalex.org/W2096459446","https://openalex.org/W2098888818","https://openalex.org/W2102762991","https://openalex.org/W2110194613","https://openalex.org/W2114850647","https://openalex.org/W2124438859","https://openalex.org/W2157826678","https://openalex.org/W2170320699","https://openalex.org/W2316270076","https://openalex.org/W2415959992","https://openalex.org/W2562169634","https://openalex.org/W2700163520","https://openalex.org/W2805117442","https://openalex.org/W2968133569","https://openalex.org/W3027547354","https://openalex.org/W3036682953","https://openalex.org/W3087971345","https://openalex.org/W4293681604"],"related_works":["https://openalex.org/W3083594100","https://openalex.org/W804621235","https://openalex.org/W1561809125","https://openalex.org/W2170933721","https://openalex.org/W2733937007","https://openalex.org/W2137951129","https://openalex.org/W1841910890","https://openalex.org/W2099808884","https://openalex.org/W809819843","https://openalex.org/W2082719470"],"abstract_inverted_index":{"This":[0],"study":[1],"aims":[2],"to":[3,72,101],"construct":[4],"a":[5,10,79,91],"running":[6,39,49,99],"simulator":[7],"based":[8],"on":[9],"motion":[11,21,76,102,116],"generation":[12],"and":[13,34,47,56,82,90,113],"control":[14,84],"system":[15],"that":[16,69,93],"enables":[17],"the":[18,24,38,42,54,57,74,96,109,115],"description":[19],"of":[20,32,111],"strategies":[22,103],"using":[23],"spring-loaded":[25],"inverted":[26],"pendulum":[27],"(SLIP)":[28],"model.":[29],"The":[30],"problems":[31],"stability":[33],"robustness":[35],"encountered":[36],"in":[37,98],"simulation":[40],"with":[41],"SLIP":[43],"model":[44],"are":[45],"elucidated,":[46],"stable":[48],"is":[50,70,104],"achieved":[51],"by":[52,85],"controlling":[53],"stiffness":[55],"attitude":[58],"angle":[59],"dynamically":[60],"at":[61],"touchdown,":[62],"as":[63,65],"well":[64],"human":[66],"energy":[67],"adjustment":[68],"introduced":[71],"consider":[73],"active":[75,83],"strategy.":[77],"As":[78],"result,":[80],"passive":[81],"humans":[86],"can":[87,94],"be":[88],"expressed,":[89],"framework":[92],"express":[95],"changes":[97],"due":[100],"constructed.":[105],"Finally,":[106],"we":[107],"discuss":[108],"possibility":[110],"describing":[112],"elucidating":[114],"strategies.":[117]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}