{"id":"https://openalex.org/W1497593561","doi":"https://doi.org/10.1109/robio.2004.1521788","title":"Omni-directional Walking of a Quadruped Robot on a Slope","display_name":"Omni-directional Walking of a Quadruped Robot on a Slope","publication_year":2005,"publication_date":"2005-10-24","ids":{"openalex":"https://openalex.org/W1497593561","doi":"https://doi.org/10.1109/robio.2004.1521788","mag":"1497593561"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2004.1521788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2004.1521788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Robotics and Biomimetics","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/A5018376189","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0002-6796-9399"},"institutions":[{"id":"https://openalex.org/I6178835","display_name":"Ibaraki University","ror":"https://ror.org/00sjd5653","country_code":"JP","type":"education","lineage":["https://openalex.org/I6178835"]},{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","Dept. of Systems Engineering Ibaraki University"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"]},{"raw_affiliation_string":"Dept. of Systems Engineering Ibaraki University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102150334","display_name":"Shugen Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]},{"id":"https://openalex.org/I6178835","display_name":"Ibaraki University","ror":"https://ror.org/00sjd5653","country_code":"JP","type":"education","lineage":["https://openalex.org/I6178835"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","Dept. of Systems Engineering Ibaraki University"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"]},{"raw_affiliation_string":"Dept. of Systems Engineering Ibaraki University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089625418","display_name":"Yukio Honda","orcid":"https://orcid.org/0000-0001-8738-5174"},"institutions":[{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]},{"id":"https://openalex.org/I6178835","display_name":"Ibaraki University","ror":"https://ror.org/00sjd5653","country_code":"JP","type":"education","lineage":["https://openalex.org/I6178835"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Honda","raw_affiliation_strings":["Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","Dept. of Systems Engineering Ibaraki University"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"]},{"raw_affiliation_string":"Dept. of Systems Engineering Ibaraki University","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014851369","display_name":"Kazuya Inou\u00e9","orcid":"https://orcid.org/0000-0002-2908-9577"},"institutions":[{"id":"https://openalex.org/I6178835","display_name":"Ibaraki University","ror":"https://ror.org/00sjd5653","country_code":"JP","type":"education","lineage":["https://openalex.org/I6178835"]},{"id":"https://openalex.org/I65143321","display_name":"Hitachi (Japan)","ror":"https://ror.org/02exqgm79","country_code":"JP","type":"company","lineage":["https://openalex.org/I65143321"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Inoue","raw_affiliation_strings":["Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","Dept. of Systems Engineering Ibaraki University"],"affiliations":[{"raw_affiliation_string":"Department of Systems Engineering, Faculty of Eng, Ibaraki University, Hitachi, Ibaraki, Japan","institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"]},{"raw_affiliation_string":"Dept. of Systems Engineering Ibaraki University","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018376189"],"corresponding_institution_ids":["https://openalex.org/I6178835","https://openalex.org/I65143321"],"apc_list":null,"apc_paid":null,"fwci":1.1641,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.76951112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1 4","issue":null,"first_page":"268","last_page":"273"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9886999726295471,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9739000201225281,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7017619609832764},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6300809383392334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5808165073394775},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.5104600191116333},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4798692762851715},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44470536708831787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4162607789039612},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3936938941478729},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.3532565236091614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22630223631858826},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.16778132319450378}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7017619609832764},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6300809383392334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5808165073394775},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.5104600191116333},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4798692762851715},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44470536708831787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4162607789039612},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3936938941478729},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.3532565236091614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22630223631858826},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.16778132319450378},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2004.1521788","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2004.1521788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2005805981","https://openalex.org/W2012752411","https://openalex.org/W2033927054","https://openalex.org/W2089316207","https://openalex.org/W2092394151","https://openalex.org/W2094770975","https://openalex.org/W2096076198","https://openalex.org/W2102602081","https://openalex.org/W2159741439","https://openalex.org/W6658818965","https://openalex.org/W6674415350"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W2471060339","https://openalex.org/W3141840228","https://openalex.org/W2148547327","https://openalex.org/W2390631805","https://openalex.org/W1995781834","https://openalex.org/W2803913909","https://openalex.org/W2729676947","https://openalex.org/W4379933302","https://openalex.org/W2328573683"],"abstract_inverted_index":{"In":[0],"this":[1,31],"study,":[2],"we":[3],"discuss":[4],"omni-directional":[5],"walking":[6,57],"of":[7,58],"a":[8,14,22,33,59],"quadruped":[9,60],"robot":[10,61],"to":[11],"walk":[12],"on":[13,21],"slope.":[15],"A":[16],"method":[17,53],"for":[18,54],"successive":[19],"gait-transition":[20],"slope":[23,56],"with":[24],"specified":[25],"body":[26,41],"posture":[27,42],"is":[28,62],"introduced.":[29],"Using":[30],"method,":[32],"trade-off":[34],"between":[35],"the":[36,40,51],"moving":[37],"speed":[38],"and":[39,47],"has":[43],"been":[44],"verified.":[45],"Simulations":[46],"experiments":[48],"showed":[49],"that":[50],"proposed":[52],"stable":[55],"valid":[63]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}