{"id":"https://openalex.org/W2132790038","doi":"https://doi.org/10.1109/robio.2009.5420601","title":"Step over motion of four wheeled and four legged flexible personal robot","display_name":"Step over motion of four wheeled and four legged flexible personal robot","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2132790038","doi":"https://doi.org/10.1109/robio.2009.5420601","mag":"2132790038"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5012381352","display_name":"Noriho Koyachi","orcid":null},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Noriho Koyachi","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","National Institute of Advanced Industrial Science and Technology (AIST), Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki 305-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki 305-8568, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046488570","display_name":"Kenichi Maruyama","orcid":null},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ken-ichi Maruyama","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan","National Institute of Advanced Industrial Science and Technology (AIST), , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), , Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060133835","display_name":"Yoshihiro Kawai","orcid":"https://orcid.org/0000-0002-9847-0072"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiro Kawai","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan","National Institute of Advanced Industrial Science and Technology (AIST), , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), , Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015195139","display_name":"Fumiaki Tomita","orcid":"https://orcid.org/0000-0002-4377-6621"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumiaki Tomita","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan","National Institute of Advanced Industrial Science and Technology (AIST), , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), , Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005675276","display_name":"Yasushi Morikawa","orcid":"https://orcid.org/0000-0003-0766-4400"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Morikawa","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Japan","National Institute of Advanced Industrial Science and Technology (AIST), , Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST), , Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2296,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.62579375,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"20","issue":null,"first_page":"616","last_page":"621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9860000014305115,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9832000136375427,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.6840894818305969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6408731341362},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5880010724067688},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.5701943635940552},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.532518208026886},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4904343783855438},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4775189459323883},{"id":"https://openalex.org/keywords/social-robot","display_name":"Social robot","score":0.439935564994812},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.4146689772605896},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4075353443622589},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39900660514831543}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6840894818305969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6408731341362},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5880010724067688},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.5701943635940552},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.532518208026886},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4904343783855438},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4775189459323883},{"id":"https://openalex.org/C162947575","wikidata":"https://www.wikidata.org/wiki/Q2005645","display_name":"Social robot","level":5,"score":0.439935564994812},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.4146689772605896},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4075353443622589},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39900660514831543},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":18,"referenced_works":["https://openalex.org/W1569815043","https://openalex.org/W1909540243","https://openalex.org/W1985092254","https://openalex.org/W2100719788","https://openalex.org/W2101269092","https://openalex.org/W2112197412","https://openalex.org/W2123203711","https://openalex.org/W2125356896","https://openalex.org/W2126293818","https://openalex.org/W2145557025","https://openalex.org/W2170163952","https://openalex.org/W2575552490","https://openalex.org/W2577135304","https://openalex.org/W3013422966","https://openalex.org/W3171379477","https://openalex.org/W6639900609","https://openalex.org/W6678695790","https://openalex.org/W6796320128"],"related_works":["https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W2108809812","https://openalex.org/W1540467731","https://openalex.org/W2175869054","https://openalex.org/W2115030537","https://openalex.org/W2724299411","https://openalex.org/W2164234705","https://openalex.org/W2175714038"],"abstract_inverted_index":{"Four":[0],"wheeled":[1],"and":[2,32,57],"four":[3],"legged":[4],"flexible":[5],"personal":[6,12],"robot":[7,13,19],"is":[8,20],"designed":[9],"for":[10],"a":[11,15,24,30,49],"following":[14],"person":[16,31],"indoors.":[17],"This":[18,40],"expected":[21],"to":[22,29],"serve":[23],"various":[25],"kind":[26],"of":[27],"service":[28],"peoples":[33],"with":[34,51],"the":[35,44,52],"tri-camera":[36],"stereo":[37],"vision":[38,45],"system.":[39],"paper":[41],"describes":[42],"on":[43],"assisted":[46],"stride":[47],"over":[48],"step":[50],"hybrid":[53],"locomotion":[54],"by":[55],"wheels":[56],"legs.":[58]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}