{"id":"https://openalex.org/W2117768983","doi":"https://doi.org/10.1109/robio.2009.5420608","title":"Internal force control for rolling operation of polygonal prism","display_name":"Internal force control for rolling operation of polygonal prism","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2117768983","doi":"https://doi.org/10.1109/robio.2009.5420608","mag":"2117768983"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420608","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/A5086072376","display_name":"Gaku Takeo","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Gaku Takeo","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112316328","display_name":"Tomohito Takubo","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomohito Takubo","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025950008","display_name":"Kenichi Ohara","orcid":"https://orcid.org/0000-0003-1712-3245"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenichi Ohara","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044203013","display_name":"Yasushi Mae","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Mae","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017331725","display_name":"Tatsuo Arai","orcid":"https://orcid.org/0000-0001-7863-5696"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuo Arai","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, 560-0043, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086072376"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.16539437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"26","issue":null,"first_page":"586","last_page":"591"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","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"}}],"keywords":[{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6364545822143555},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6094369888305664},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5998981595039368},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5841761827468872},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.57916259765625},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.550500214099884},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.5204241871833801},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4707993268966675},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.44944196939468384},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4429701566696167},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.4215743839740753},{"id":"https://openalex.org/keywords/rotation-around-a-fixed-axis","display_name":"Rotation around a fixed axis","score":0.4213760197162628},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.41861382126808167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38265925645828247},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3638980984687805},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29346975684165955},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2401900291442871},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22066307067871094},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21685856580734253},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19765731692314148},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19340714812278748},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.08089229464530945}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6364545822143555},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6094369888305664},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5998981595039368},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5841761827468872},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.57916259765625},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.550500214099884},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.5204241871833801},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4707993268966675},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.44944196939468384},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4429701566696167},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.4215743839740753},{"id":"https://openalex.org/C6342182","wikidata":"https://www.wikidata.org/wiki/Q2995427","display_name":"Rotation around a fixed axis","level":2,"score":0.4213760197162628},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.41861382126808167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38265925645828247},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3638980984687805},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29346975684165955},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2401900291442871},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22066307067871094},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21685856580734253},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19765731692314148},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19340714812278748},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.08089229464530945},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420608","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5099999904632568}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1525008876","https://openalex.org/W1778336207","https://openalex.org/W1976610925","https://openalex.org/W2022960874","https://openalex.org/W2098740543","https://openalex.org/W2150316725","https://openalex.org/W2166491626","https://openalex.org/W2289148480","https://openalex.org/W2533581104"],"related_works":["https://openalex.org/W2259616189","https://openalex.org/W2373921823","https://openalex.org/W2331332883","https://openalex.org/W2767874052","https://openalex.org/W1987749388","https://openalex.org/W2763127827","https://openalex.org/W2086896406","https://openalex.org/W2994063829","https://openalex.org/W2166058540","https://openalex.org/W1996489300"],"abstract_inverted_index":{"Rotation":[0],"is":[1,27,58,77,93,150,163],"one":[2],"of":[3,67,82],"efficient":[4],"transportation":[5],"method":[6],"for":[7,51],"big":[8],"or":[9],"heavy":[10],"object.":[11],"For":[12],"implementing":[13],"the":[14,18,24,61,68,72,75,79,83,85,96,99,108,113,121,128,132,135,153],"rolling":[15,44],"operation":[16],"to":[17,70,152],"small":[19,154],"and":[20,34,101,112,134,148],"light":[21],"weight":[22,55],"robot,":[23,100],"friction":[25,129,144],"control":[26,57,71],"necessary":[28],"considering":[29,60],"its":[30],"movable":[31],"range,":[32],"balance":[33],"actuator":[35],"power.":[36],"In":[37],"this":[38],"paper,":[39],"we":[40],"propose":[41],"a":[42],"new":[43],"manipulation":[45],"by":[46,95,106,145,157],"using":[47,158],"whole":[48],"body":[49],"motion":[50],"multi-legged":[52,155],"robot.":[53],"The":[54,90,116,161],"shift":[56],"implemented":[59,151],"Imaginary":[62],"Zero":[63],"Moment":[64],"Point":[65],"(IZMP)":[66],"object":[69,86,133],"balance.":[73],"When":[74],"IZMP":[76],"beside":[78],"support":[80],"polygon":[81],"object,":[84],"has":[87],"rotational":[88,91,122],"force.":[89,115],"force":[92,97,118,123,142],"controlled":[94],"from":[98],"it":[102,125,149],"can":[103,119],"be":[104],"manipulated":[105],"controlling":[107],"robot's":[109],"CoM":[110],"position":[111],"internal":[114,117,141],"adjust":[120],"but":[124],"should":[126],"consider":[127],"forces":[130],"between":[131],"floor":[136],"etc.":[137],"We":[138],"analyze":[139],"available":[140],"with":[143],"kinematic":[146],"solution,":[147],"robot":[156],"torque":[159],"control.":[160],"effectiveness":[162],"confirmed":[164],"through":[165],"experiments.":[166]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
