{"id":"https://openalex.org/W7131101329","doi":"https://doi.org/10.1109/robio66223.2025.11378278","title":"Soft and Adaptive Landing Control on Slopes for a Legged Robot Using a Tiptoe Proximity Sensor","display_name":"Soft and Adaptive Landing Control on Slopes for a Legged Robot Using a Tiptoe Proximity Sensor","publication_year":2025,"publication_date":"2025-12-03","ids":{"openalex":"https://openalex.org/W7131101329","doi":"https://doi.org/10.1109/robio66223.2025.11378278"},"language":null,"primary_location":{"id":"doi:10.1109/robio66223.2025.11378278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11378278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5126655491","display_name":"Junpei Kobayashi","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Junpei Kobayashi","raw_affiliation_strings":["Graduate School of Informatics and Engineering, The University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics and Engineering, The University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112296951","display_name":"R. Sato","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryuki Sato","raw_affiliation_strings":["Graduate School of Informatics and Engineering, The University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics and Engineering, The University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan","institution_ids":["https://openalex.org/I20529979"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061020240","display_name":"Hikaru Arita","orcid":"https://orcid.org/0000-0003-4953-2553"},"institutions":[{"id":"https://openalex.org/I135598925","display_name":"Kyushu University","ror":"https://ror.org/00p4k0j84","country_code":"JP","type":"education","lineage":["https://openalex.org/I135598925"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Arita","raw_affiliation_strings":["Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu University,Department of Mechanical Engineering,Fukuoka,Japan,819-0395","institution_ids":["https://openalex.org/I135598925"]}]},{"author_position":"last","author":{"id":null,"display_name":"Aiguo Ming","orcid":null},"institutions":[{"id":"https://openalex.org/I20529979","display_name":"University of Electro-Communications","ror":"https://ror.org/02x73b849","country_code":"JP","type":"education","lineage":["https://openalex.org/I20529979"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Aiguo Ming","raw_affiliation_strings":["Graduate School of Informatics and Engineering, The University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Informatics and Engineering, The University of Electro-Communications,Department of Mechanical Engineering and Intelligent Systems,Tokyo,Japan","institution_ids":["https://openalex.org/I20529979"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.76683153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2064","last_page":"2069"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.745199978351593,"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/T10868","display_name":"Soft Robotics and Applications","score":0.745199978351593,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.19449999928474426,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.007199999876320362,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/slipping","display_name":"Slipping","score":0.7530999779701233},{"id":"https://openalex.org/keywords/soft-landing","display_name":"Soft landing","score":0.7261999845504761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6115000247955322},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5945000052452087},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4332999885082245},{"id":"https://openalex.org/keywords/landing-gear","display_name":"Landing gear","score":0.41110000014305115},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.3865000009536743},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.37540000677108765}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7530999779701233},{"id":"https://openalex.org/C65424074","wikidata":"https://www.wikidata.org/wiki/Q2221605","display_name":"Soft landing","level":2,"score":0.7261999845504761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6115000247955322},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5945000052452087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5702000260353088},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4332999885082245},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41839998960494995},{"id":"https://openalex.org/C2779688405","wikidata":"https://www.wikidata.org/wiki/Q263421","display_name":"Landing gear","level":2,"score":0.41110000014305115},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3865000009536743},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.37540000677108765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.33880001306533813},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31439998745918274},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.2930999994277954},{"id":"https://openalex.org/C199310239","wikidata":"https://www.wikidata.org/wiki/Q4115667","display_name":"Impact","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C165846633","wikidata":"https://www.wikidata.org/wiki/Q541008","display_name":"Normal force","level":2,"score":0.2784000039100647},{"id":"https://openalex.org/C26572238","wikidata":"https://www.wikidata.org/wiki/Q1197176","display_name":"Airspeed","level":2,"score":0.2782000005245209},{"id":"https://openalex.org/C196467688","wikidata":"https://www.wikidata.org/wiki/Q1851985","display_name":"Telerobotics","level":4,"score":0.27149999141693115},{"id":"https://openalex.org/C135403697","wikidata":"https://www.wikidata.org/wiki/Q796765","display_name":"Proximity sensor","level":2,"score":0.2702000141143799},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.2702000141143799},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26809999346733093},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2581000030040741},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2563000023365021},{"id":"https://openalex.org/C46722567","wikidata":"https://www.wikidata.org/wiki/Q7674139","display_name":"Tactile sensor","level":3,"score":0.2542000114917755},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.2540000081062317}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio66223.2025.11378278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio66223.2025.11378278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1972540573","https://openalex.org/W2058633791","https://openalex.org/W2081115468","https://openalex.org/W2128727332","https://openalex.org/W2161427949","https://openalex.org/W2168094487","https://openalex.org/W2914140423","https://openalex.org/W3001473907","https://openalex.org/W4213050259","https://openalex.org/W4226082913","https://openalex.org/W4285309256","https://openalex.org/W4317383097","https://openalex.org/W4382751696","https://openalex.org/W4386702919","https://openalex.org/W4392693698","https://openalex.org/W4394654042","https://openalex.org/W4399206656","https://openalex.org/W4399511590","https://openalex.org/W4399727817"],"related_works":[],"abstract_inverted_index":{"As":[0],"the":[1,67,73,82,106,117,124,155],"locomotion":[2],"abilities":[3],"of":[4,54,60,63,152],"legged":[5],"robots":[6],"im-prove,":[7],"enhancing":[8],"their":[9],"landing":[10,42,87,107,137],"capability":[11],"becomes":[12],"essential":[13],"for":[14],"dynamic":[15],"movements":[16],"like":[17],"running.":[18],"This":[19],"problem":[20],"is":[21,109],"even":[22],"more":[23],"complicated":[24],"on":[25,44,81,102,116,138],"slopes,":[26,147],"where":[27],"conventional":[28],"post-contact":[29],"control":[30,43,88],"methods":[31],"face":[32],"significant":[33],"limitations.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38],"propose":[39],"an":[40,61],"adaptive":[41],"a":[45,48,55,112,139,150],"slope":[46],"using":[47],"tiptoe":[49,56],"proximity":[50,57],"sensor.":[51],"A":[52],"prototype":[53],"sensor,":[58],"consisting":[59],"array":[62],"photoreflectors":[64],"to":[65,72,76],"detect":[66],"relative":[68],"distance":[69],"and":[70,104,133,143],"angle":[71],"ground":[74],"prior":[75],"contact,":[77],"was":[78],"developed.":[79],"Based":[80],"sensor":[83,118],"output,":[84],"slope-adaptive":[85],"soft":[86],"can":[89],"be":[90],"applied":[91],"before":[92],"touchdown.":[93],"The":[94],"toe":[95],"force":[96,114],"at":[97],"touchdown,":[98],"which":[99],"prevents":[100],"slipping":[101],"slopes":[103],"reduces":[105],"impact,":[108],"generated":[110],"as":[111],"virtual":[113],"based":[115],"output.":[119],"Experimental":[120],"results":[121],"demonstrate":[122],"that":[123],"proposed":[125],"method":[126],"reduced":[127],"peak":[128],"impact":[129],"forces":[130],"by":[131],"20.2%":[132],"30.4":[134],"%":[135],"when":[136],"20":[140],"deg":[141,145],"uphill":[142],"-20":[144],"downhill":[146],"respectively,":[148],"from":[149],"height":[151],"1.5":[153],"times":[154],"leg":[156],"length.":[157]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-24T00:00:00"}