{"id":"https://openalex.org/W4416747990","doi":"https://doi.org/10.1109/iros60139.2025.11245909","title":"KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing","display_name":"KLEIYN : A Quadruped Robot with an Active Waist for Both Locomotion and Wall Climbing","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416747990","doi":"https://doi.org/10.1109/iros60139.2025.11245909"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11245909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5109352026","display_name":"K. Yoneda","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":true,"raw_author_name":"Keita Yoneda","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087094940","display_name":"Kento Kawaharazuka","orcid":"https://orcid.org/0000-0002-7464-7187"},"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":"Kento Kawaharazuka","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027473785","display_name":"Temma Suzuki","orcid":"https://orcid.org/0009-0007-6802-4809"},"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":"Temma Suzuki","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071602429","display_name":"Takahiro Hattori","orcid":"https://orcid.org/0000-0003-0475-2587"},"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":"Takahiro Hattori","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112883439","display_name":"Kei Okada","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":"Kei Okada","raw_affiliation_strings":["The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"affiliations":[{"raw_affiliation_string":"The University of Tokyo,Graduate School of Information Science and Technology,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5109352026"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38245605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"8783","last_page":"8789"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.917900025844574,"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":0.917900025844574,"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":0.0560000017285347,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.004900000058114529,"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":0.7695000171661377},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6972000002861023},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6137999892234802},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.536300003528595},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4715000092983246},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.42089998722076416},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3797000050544739},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3714999854564667}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7695000171661377},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6972000002861023},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6137999892234802},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.536300003528595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5297999978065491},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4715000092983246},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4652999937534332},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.42089998722076416},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3912999927997589},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3797000050544739},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3714999854564667},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3571999967098236},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3564999997615814},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.34139999747276306},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.34060001373291016},{"id":"https://openalex.org/C115051666","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Ranging","level":2,"score":0.3379000127315521},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.3188999891281128},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.2985000014305115},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.288100004196167},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.27399998903274536},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.27390000224113464},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2581000030040741}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11245909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11245909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":17,"referenced_works":["https://openalex.org/W2738870766","https://openalex.org/W2909229154","https://openalex.org/W2911087563","https://openalex.org/W2964198579","https://openalex.org/W2968213087","https://openalex.org/W3003335319","https://openalex.org/W3010768390","https://openalex.org/W3093922502","https://openalex.org/W3133648073","https://openalex.org/W4205430897","https://openalex.org/W4250058668","https://openalex.org/W4283822920","https://openalex.org/W4293566197","https://openalex.org/W4401415395","https://openalex.org/W4401416668","https://openalex.org/W4402216758","https://openalex.org/W4404953553"],"related_works":[],"abstract_inverted_index":{"In":[0,81],"recent":[1],"years,":[2],"advancements":[3],"in":[4,46,52,134],"hardware":[5],"have":[6,75],"enabled":[7],"quadruped":[8,87,99],"robots":[9,63],"to":[10,97,131],"operate":[11],"with":[12,55,71],"high":[13],"power":[14],"and":[15,44,62,95],"speed,":[16],"while":[17],"robust":[18],"locomotion":[19,51,100],"control":[20,73],"using":[21],"reinforcement":[22],"learning":[23,110],"(RL)":[24],"has":[25],"also":[26],"been":[27,78],"realized.":[28],"As":[29,120],"a":[30,92,121,156],"result,":[31,122],"expectations":[32],"are":[33],"rising":[34],"for":[35],"the":[36,86,109,153],"automation":[37],"of":[38,65,111,140,155],"tasks":[39],"such":[40,67],"as":[41],"material":[42],"transport":[43],"exploration":[45],"unknown":[47],"environments.":[48],"However,":[49],"autonomous":[50],"rough":[53],"terrains":[54],"significant":[56],"height":[57],"variations":[58],"requires":[59],"vertical":[60,112],"movement,":[61],"capable":[64],"performing":[66],"movements":[68],"stably,":[69],"along":[70],"their":[72],"methods,":[74],"not":[76],"yet":[77],"fully":[79],"established.":[80],"this":[82],"study,":[83],"we":[84,114,150],"developed":[85],"robot":[88],"KLEIYN,":[89],"which":[90],"features":[91],"waist":[93,157],"joint,":[94],"aimed":[96],"expand":[98],"by":[101],"enabling":[102],"chimney":[103],"climbing":[104,160],"through":[105],"RL.":[106],"To":[107],"facilitate":[108],"motion,":[113],"introduced":[115],"Contact-Guided":[116],"Curriculum":[117],"Learning":[118],"(CGCL).":[119],"KLEIYN":[123],"successfully":[124],"climbed":[125],"walls":[126],"ranging":[127],"from":[128],"800":[129],"mm":[130,133],"1000":[132],"width":[135],"at":[136],"an":[137],"average":[138],"speed":[139],"150":[141],"mm/s,":[142],"50":[143],"times":[144],"faster":[145],"than":[146],"conventional":[147],"robots.":[148],"Furthermore,":[149],"demonstrated":[151],"that":[152],"introduction":[154],"joint":[158],"improves":[159],"performance,":[161],"particularly":[162],"enhancing":[163],"tracking":[164],"ability":[165],"on":[166],"narrow":[167],"walls.":[168]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}