{"id":"https://openalex.org/W2061182897","doi":"https://doi.org/10.1109/robio.2011.6181650","title":"Point-contact type foot with springs and landing control for biped walking on rough terrain","display_name":"Point-contact type foot with springs and landing control for biped walking on rough terrain","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2061182897","doi":"https://doi.org/10.1109/robio.2011.6181650","mag":"2061182897"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5006390702","display_name":"Moyuru Yamada","orcid":"https://orcid.org/0009-0009-1907-7503"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Moyuru Yamada","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, Japan","Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, Japan","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110704871","display_name":"Shigenori Sano","orcid":null},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigenori Sano","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, Japan","Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, Japan","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062939314","display_name":"Naoki Uchiyama","orcid":"https://orcid.org/0000-0003-3642-9944"},"institutions":[{"id":"https://openalex.org/I136259955","display_name":"Toyohashi University of Technology","ror":"https://ror.org/04ezg6d83","country_code":"JP","type":"education","lineage":["https://openalex.org/I136259955"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naoki Uchiyama","raw_affiliation_strings":["Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, Japan","Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, Japan","institution_ids":["https://openalex.org/I136259955"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku, Toyohashi, Aichi 441-8580, Japan","institution_ids":["https://openalex.org/I136259955"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006390702"],"corresponding_institution_ids":["https://openalex.org/I136259955"],"apc_list":null,"apc_paid":null,"fwci":0.6296,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.70193867,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"25","issue":null,"first_page":"2355","last_page":"2360"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9886999726295471,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9535999894142151,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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/terrain","display_name":"Terrain","score":0.9166603088378906},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6381354928016663},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.62480628490448},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6160397529602051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5649124979972839},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49295639991760254},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48777371644973755},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48776084184646606},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4608596861362457},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4514341950416565},{"id":"https://openalex.org/keywords/rough-surface","display_name":"Rough surface","score":0.435139536857605},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.4229416847229004},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27909451723098755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19613182544708252},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17510509490966797},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13658225536346436},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.10278120636940002},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08467471599578857}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.9166603088378906},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6381354928016663},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.62480628490448},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6160397529602051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5649124979972839},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49295639991760254},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48777371644973755},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48776084184646606},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4608596861362457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4514341950416565},{"id":"https://openalex.org/C3018343705","wikidata":"https://www.wikidata.org/wiki/Q114817","display_name":"Rough surface","level":2,"score":0.435139536857605},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.4229416847229004},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27909451723098755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19613182544708252},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17510509490966797},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13658225536346436},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.10278120636940002},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08467471599578857},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181650","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181650","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6000000238418579,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320325282","display_name":"Murata Science Foundation","ror":"https://ror.org/04hd8bd67"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2110119473","https://openalex.org/W2120357486","https://openalex.org/W2130456189","https://openalex.org/W2133859362","https://openalex.org/W2153622987","https://openalex.org/W2164584345","https://openalex.org/W2166162370","https://openalex.org/W2314760878","https://openalex.org/W2315788753","https://openalex.org/W2330436864","https://openalex.org/W2330733710","https://openalex.org/W2333587935","https://openalex.org/W2540018960","https://openalex.org/W2542471709","https://openalex.org/W4368228047","https://openalex.org/W6676767609","https://openalex.org/W6679549587"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W1977229594","https://openalex.org/W2018658498"],"abstract_inverted_index":{"This":[0,120],"paper":[1],"proposes":[2],"a":[3,7,26,56,91,113],"biped":[4,46,143],"robot":[5,144],"with":[6,11,66,137],"point-contact":[8],"type":[9],"foot":[10,28,87,92],"springs":[12],"(PCFS)":[13],"and":[14,80,94,106,134,149,156],"its":[15],"control":[16],"method":[17],"for":[18,116],"stable":[19,38],"locomotion":[20],"on":[21,40,62,76],"rough":[22,41,63,118],"terrain.":[23,119],"PCFS":[24,73],"is":[25,43,152],"new":[27],"system":[29],"that":[30],"was":[31],"proposed":[32,121,147],"in":[33,53,96],"our":[34],"previous":[35],"study.":[36],"Realizing":[37],"walking":[39],"terrain":[42,67,140],"important,":[44],"because":[45],"robots":[47],"are":[48],"expected":[49],"to":[50,98,126,139],"assist":[51],"humans":[52],"not":[54],"only":[55],"flat":[57],"known":[58],"environment":[59],"but":[60],"also":[61],"ground":[64,78,104,109,129],"surfaces":[65,79],"variances":[68],"while":[69],"maintaining":[70],"their":[71,150],"usefulness.":[72],"realizes":[74],"stability":[75,136],"complex":[77],"suppresses":[81],"the":[82,86,99,102,107,127],"impact":[83],"force":[84,133],"at":[85],"landing.":[88],"To":[89],"adjust":[90],"position":[93],"posture":[95],"response":[97],"declination":[100],"between":[101],"predicted":[103],"surface":[105],"actual":[108,128],"surface,":[110],"we":[111],"propose":[112],"landing":[114],"controller":[115,122],"uncertain":[117],"provides":[123],"exact":[124],"positioning":[125],"without":[130],"excessive":[131],"reaction":[132],"robust":[135],"respect":[138],"variance.":[141],"The":[142],"implements":[145],"these":[146],"approaches,":[148],"effectiveness":[151],"demonstrated":[153],"by":[154],"simulation":[155],"experimental":[157],"results.":[158]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
