{"id":"https://openalex.org/W2982302219","doi":"https://doi.org/10.1109/mhs.2018.8887047","title":"A Study on Joint Trajectory Planning of Multilegged Robot with Redundant Degrees of Freedom Legs using the Screw Theory","display_name":"A Study on Joint Trajectory Planning of Multilegged Robot with Redundant Degrees of Freedom Legs using the Screw Theory","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2982302219","doi":"https://doi.org/10.1109/mhs.2018.8887047","mag":"2982302219"},"language":"en","primary_location":{"id":"doi:10.1109/mhs.2018.8887047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mhs.2018.8887047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","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/A5000616755","display_name":"Yoichi Shigematsu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yoichi Shigematsu","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021711169","display_name":"Naoya Yoshinaga","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoya Yoshinaga","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080456630","display_name":"Hitoshi Inabe","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hitoshi Inabe","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102366834","display_name":"Ryoichiro Tamura","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryoichiro Tamura","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034357479","display_name":"Tomoya Fujii","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoya Fujii","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021555828","display_name":"Souta Okada","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Souta Okada","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079297071","display_name":"Nobuto Hirakoso","orcid":null},"institutions":[{"id":"https://openalex.org/I4210154076","display_name":"National Institute of Technology, Gunma College","ror":"https://ror.org/04kp2z675","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810","https://openalex.org/I4210154076"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nobuto Hirakoso","raw_affiliation_strings":["Department of Mechanical Engineering, Gunma College, Maebashi, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Gunma College, Maebashi, Japan","institution_ids":["https://openalex.org/I4210154076"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5000616755"],"corresponding_institution_ids":["https://openalex.org/I4210154076"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22069481,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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/T14335","display_name":"Educational Robotics and Engineering","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9749000072479248,"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/robot","display_name":"Robot","score":0.7213998436927795},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6791354417800903},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6093500256538391},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6015812158584595},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5720934867858887},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5565231442451477},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5367997884750366},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47430419921875},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.46996209025382996},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.44249698519706726},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3820651173591614},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3214595913887024},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29316097497940063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2751685380935669},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11133512854576111},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07083654403686523}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7213998436927795},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6791354417800903},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6093500256538391},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6015812158584595},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5720934867858887},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5565231442451477},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5367997884750366},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47430419921875},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.46996209025382996},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.44249698519706726},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3820651173591614},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3214595913887024},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29316097497940063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2751685380935669},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11133512854576111},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07083654403686523},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"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/mhs.2018.8887047","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mhs.2018.8887047","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2319797310","https://openalex.org/W2321215167"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2030374020","https://openalex.org/W2109318798","https://openalex.org/W3016354044","https://openalex.org/W3201807103","https://openalex.org/W2131839162","https://openalex.org/W2907704902","https://openalex.org/W1921647739"],"abstract_inverted_index":{"In":[0],"a":[1,79],"multilegged":[2,30],"walking":[3,31,82],"robot,":[4],"three":[5],"dimensional":[6],"dexterous":[7],"movement":[8],"of":[9,27,37,53,78],"the":[10,16,45,49,54,65],"trunk":[11],"is":[12,40,59,73],"indispensable":[13],"to":[14,48,63],"transport":[15],"payload":[17],"in":[18],"unprepared":[19],"rough":[20],"terrain.":[21],"The":[22,51,70],"joint":[23,57],"angle":[24],"trajectory":[25],"planning":[26],"an":[28],"arbitrary":[29],"robot":[32],"with":[33],"possibly":[34],"redundant":[35],"degrees":[36],"freedom":[38],"legs":[39],"proposed":[41,71],"explicitly":[42],"by":[43,76],"using":[44],"screw":[46],"theory":[47],"trunk.":[50],"optimization":[52],"indeterminate":[55],"infinitesimal":[56],"angles":[58],"formulated":[60],"so":[61],"as":[62],"maximize":[64],"potential":[66],"energy":[67],"stability":[68],"criterion.":[69],"method":[72],"partly":[74],"validated":[75],"experiments":[77],"prototype":[80],"quadruped":[81],"robot.":[83]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}