{"id":"https://openalex.org/W4405785060","doi":"https://doi.org/10.1109/iros58592.2024.10802771","title":"Stable Wheel Gait Generation for Planar X-shaped Walker with Telescopic Legs Based on Asymmetric Impact Posture","display_name":"Stable Wheel Gait Generation for Planar X-shaped Walker with Telescopic Legs Based on Asymmetric Impact Posture","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785060","doi":"https://doi.org/10.1109/iros58592.2024.10802771"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5111950771","display_name":"F. Asano","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,Graduate School of Advanced Science and Technology,Nomi, Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,Graduate School of Advanced Science and Technology,Nomi, Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Mikito Komori","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mikito Komori","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,Graduate School of Advanced Science and Technology,Nomi, Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,Graduate School of Advanced Science and Technology,Nomi, Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106356459","display_name":"Taiki Sedoguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiki Sedoguchi","raw_affiliation_strings":["Japan Advanced Institute of Science and Technology,Graduate School of Advanced Science and Technology,Nomi, Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Japan Advanced Institute of Science and Technology,Graduate School of Advanced Science and Technology,Nomi, Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054452119","display_name":"Yanqiu Zheng","orcid":"https://orcid.org/0000-0001-8518-4141"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yanqiu Zheng","raw_affiliation_strings":["Ritsumeikan University,Department of Mechanical Engineering,Kusatsu, Shiga,Japan,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Department of Mechanical Engineering,Kusatsu, Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3256,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.56595119,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"11118","last_page":"11123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9606000185012817,"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":0.9606000185012817,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.954800009727478,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/gait","display_name":"Gait","score":0.7043261528015137},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6587350368499756},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.47047239542007446},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4516611695289612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4438798427581787},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.14951983094215393},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.07613247632980347}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7043261528015137},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6587350368499756},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.47047239542007446},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4516611695289612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4438798427581787},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.14951983094215393},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.07613247632980347}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802771","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802771","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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","score":0.5600000023841858,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W171413892","https://openalex.org/W1504362584","https://openalex.org/W2020302380","https://openalex.org/W2054149850","https://openalex.org/W2084846225","https://openalex.org/W2158606681","https://openalex.org/W2166817744","https://openalex.org/W2168008227","https://openalex.org/W4386159334","https://openalex.org/W4401414105"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W2471060339","https://openalex.org/W2148547327","https://openalex.org/W1989734657","https://openalex.org/W4226236273","https://openalex.org/W2125892956","https://openalex.org/W2130975749","https://openalex.org/W4226004263","https://openalex.org/W2493973380","https://openalex.org/W2394835211"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,20,25,43],"novel":[4],"X-shaped":[5],"walker":[6],"with":[7,15,48,119,162],"telescopic":[8],"legs":[9,76],"and":[10,36,52,58,77,86,122,139,154],"investigates":[11],"its":[12],"control":[13,50,66,115,140,165],"method":[14,153],"the":[16,54,71,75,93,98,103,110,120,130,135,149,155],"aim":[17],"of":[18,56,74,109,148,158],"generating":[19],"stable":[21],"wheel":[22],"gait":[23,151],"on":[24],"horizontal":[26],"plane":[27],"without":[28],"including":[29],"zero":[30],"dynamics":[31],"which":[32],"is":[33],"essentially":[34],"unstable":[35],"difficult":[37],"to":[38,81,164],"stabilize.":[39],"First,":[40],"we":[41,62],"outline":[42],"planar":[44],"6-DOF":[45],"robot":[46,99],"model":[47],"three":[49],"inputs,":[51],"describe":[53],"equations":[55],"motion":[57,138,160],"inelastic":[59],"collision.":[60],"Second,":[61],"design":[63],"an":[64,88],"output-following":[65],"system":[67],"that":[68,97],"smoothly":[69],"controls":[70],"extension/contraction":[72],"lengths":[73],"relative":[78],"hip-joint":[79],"angle":[80],"their":[82],"target":[83,131],"terminal":[84],"values,":[85,133],"creates":[87],"asymmetric":[89],"impact":[90,128],"posture":[91],"in":[92],"anteroposterior":[94],"direction":[95],"so":[96,134],"can":[100],"easily":[101],"overcome":[102],"next":[104],"potential":[105],"barrier.":[106],"The":[107,146],"coefficients":[108],"desired-time":[111],"trajectory":[112],"for":[113],"each":[114,127],"output":[116],"are":[117,167],"updated":[118],"position":[121],"velocity":[123],"values":[124],"immediately":[125],"after":[126],"as":[129],"initial":[132],"generated":[136],"leg":[137],"inputs":[141],"exhibit":[142],"smooth":[143],"time":[144],"variation.":[145],"validity":[147],"proposed":[150],"generation":[152],"change":[156],"trend":[157],"fundamental":[159],"characteristics":[161],"respect":[163],"parameters":[166],"investigated":[168],"through":[169],"numerical":[170],"simulations.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
