{"id":"https://openalex.org/W2592182489","doi":"https://doi.org/10.1109/robio.2016.7866529","title":"Application and analyses of Dynamic Reconfiguration Manipulability Shape Index into humanoid biped walking","display_name":"Application and analyses of Dynamic Reconfiguration Manipulability Shape Index into humanoid biped walking","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2592182489","doi":"https://doi.org/10.1109/robio.2016.7866529","mag":"2592182489"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5030718449","display_name":"Keli Shen","orcid":"https://orcid.org/0000-0002-5333-2290"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Keli Shen","raw_affiliation_strings":["Division of Mechanical and Systems Engineering, Okayama University, Kita-ku, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Mechanical and Systems Engineering, Okayama University, Kita-ku, Okayama, Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331032","display_name":"Xiang Li","orcid":"https://orcid.org/0000-0002-0699-1904"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xiang Li","raw_affiliation_strings":["Okayama Daigaku, Okayama, Okayama, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Daigaku, Okayama, Okayama, JP","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101028063","display_name":"Hongzhi Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hongzhi Tian","raw_affiliation_strings":["Okayama Daigaku, Okayama, Okayama, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Daigaku, Okayama, Okayama, JP","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002459108","display_name":"Daiji Izawa","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daiji Izawa","raw_affiliation_strings":["Okayama Daigaku, Okayama, Okayama, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Daigaku, Okayama, Okayama, JP","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Okayama Daigaku, Okayama, Okayama, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Daigaku, Okayama, Okayama, JP","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091376701","display_name":"Takayuki Matsuno","orcid":"https://orcid.org/0000-0003-3372-0912"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takayuki Matsuno","raw_affiliation_strings":["Okayama Daigaku, Okayama, Okayama, JP"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama Daigaku, Okayama, Okayama, JP","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3501,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66319549,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1436","last_page":"1441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9976999759674072,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9901000261306763,"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/control-reconfiguration","display_name":"Control reconfiguration","score":0.879063606262207},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8627390265464783},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7033224701881409},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6274223327636719},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.6140294671058655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.57864910364151},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5720925331115723},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.488817423582077},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4065658152103424},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3807506561279297},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37666499614715576},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24220755696296692},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2097853720188141},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20134076476097107},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1223478615283966},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07315176725387573}],"concepts":[{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.879063606262207},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8627390265464783},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7033224701881409},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6274223327636719},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.6140294671058655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.57864910364151},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5720925331115723},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.488817423582077},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4065658152103424},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3807506561279297},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37666499614715576},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24220755696296692},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2097853720188141},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20134076476097107},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1223478615283966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07315176725387573},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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":10,"referenced_works":["https://openalex.org/W1978527338","https://openalex.org/W2035273581","https://openalex.org/W2094827686","https://openalex.org/W2127928948","https://openalex.org/W2145944877","https://openalex.org/W2171025682","https://openalex.org/W2327974227","https://openalex.org/W2399609766","https://openalex.org/W2514914091","https://openalex.org/W6644937633"],"related_works":["https://openalex.org/W1981002473","https://openalex.org/W2357657342","https://openalex.org/W2153432761","https://openalex.org/W2152623100","https://openalex.org/W2745063183","https://openalex.org/W4214878056","https://openalex.org/W1580144672","https://openalex.org/W2142042635","https://openalex.org/W2130594209","https://openalex.org/W1844105025"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,83,109],"define":[4],"a":[5,62],"new":[6,63],"index":[7],"of":[8,19,56,65,76,104,131],"dynamic":[9,17,77,129],"manipulability":[10,78],"for":[11],"humanoid":[12,89,113],"biped":[13],"walking":[14],"to":[15,39,50,92,101,136],"measure":[16],"flexibility":[18,55],"changing":[20],"mechanics":[21],"by":[22],"using":[23],"residual":[24],"redundancy,":[25],"when":[26],"primary":[27],"work":[28],"is":[29,73,116],"being":[30,37],"assigned,":[31],"such":[32],"as":[33],"face":[34],"and":[35,79,82,118,128],"eyes":[36],"targeted":[38],"certain":[40],"object.":[41],"Although":[42],"some":[43],"measurements":[44],"have":[45,84,110,123],"been":[46],"arranged":[47],"so":[48],"far":[49],"evaluate":[51,93],"statical":[52],"or":[53],"dynamical":[54,95],"hand":[57],"manipulator.":[58],"This":[59],"paper":[60],"displays":[61],"measurement":[64],"Dynamic":[66],"Reconfiguration":[67],"Manipulability":[68],"Shape":[69],"Index":[70],"(DRMSI)":[71],"which":[72],"the":[74,86,102,121,126],"combination":[75],"reconfiguration":[80,96],"manipulability,":[81],"applied":[85],"DRMSI":[87,105],"into":[88],"robot":[90,114],"experiments":[91],"its":[94],"ability":[97],"during":[98],"walking.":[99],"According":[100],"value":[103],"in":[106],"our":[107,112,132],"experiments,":[108],"verified":[111],"model":[115,133],"reliable":[117],"effective":[119],"since":[120],"results":[122],"indicated":[124],"that":[125],"kinematic":[127],"characteristics":[130],"are":[134],"similar":[135],"human-being.":[137]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}