{"id":"https://openalex.org/W2170892701","doi":"https://doi.org/10.1109/robot.2002.1013651","title":"A biped locomotion strategy for the quadruped robot Sony ERS-210","display_name":"A biped locomotion strategy for the quadruped robot Sony ERS-210","publication_year":2003,"publication_date":"2003-06-25","ids":{"openalex":"https://openalex.org/W2170892701","doi":"https://doi.org/10.1109/robot.2002.1013651","mag":"2170892701"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2002.1013651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","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/A5068581412","display_name":"F. Zonfrilli","orcid":null},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"F. Zonfrilli","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Oriolo","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075651762","display_name":"Daniele Nardi","orcid":"https://orcid.org/0000-0001-6606-200X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"D. Nardi","raw_affiliation_strings":["Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Informatica e Sistemistica, Universit\u00e0 di Roma La Sapienza, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5068581412"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":null,"apc_paid":null,"fwci":4.1127,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.94067833,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2768","last_page":"2774"},"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":0.992900013923645,"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":0.9672999978065491,"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":0.7628090381622314},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6793727278709412},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6227167844772339},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.610959529876709},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.60725337266922},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5904056429862976},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5164015889167786},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5141878128051758},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5082432627677917},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4405437707901001},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4397992789745331},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43581289052963257},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.42540496587753296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32445067167282104},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.25379347801208496},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2089015543460846},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20391225814819336},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10012027621269226},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09848779439926147}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7628090381622314},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6793727278709412},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6227167844772339},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.610959529876709},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.60725337266922},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5904056429862976},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5164015889167786},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5141878128051758},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5082432627677917},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4405437707901001},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4397992789745331},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43581289052963257},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.42540496587753296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32445067167282104},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.25379347801208496},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2089015543460846},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20391225814819336},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10012027621269226},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09848779439926147},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2002.1013651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2002.1013651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/253338","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/253338","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"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/W1639534865","https://openalex.org/W1937967612","https://openalex.org/W1969168411","https://openalex.org/W2000680346","https://openalex.org/W2021512411","https://openalex.org/W2034579881","https://openalex.org/W2070038508","https://openalex.org/W2104792915","https://openalex.org/W2107063340","https://openalex.org/W2117185233","https://openalex.org/W2123544611","https://openalex.org/W2129754669","https://openalex.org/W2141884277","https://openalex.org/W2144834630","https://openalex.org/W2149606028","https://openalex.org/W2151182239","https://openalex.org/W2163668399","https://openalex.org/W2169005065"],"related_works":["https://openalex.org/W2221887527","https://openalex.org/W2402852349","https://openalex.org/W2253744210","https://openalex.org/W2543033426","https://openalex.org/W2093552557","https://openalex.org/W2168661995","https://openalex.org/W2125177287","https://openalex.org/W2585247605","https://openalex.org/W1990981983","https://openalex.org/W2150714400"],"abstract_inverted_index":{"We":[0,49],"describe":[1],"the":[2,12,42,56,62,68,74,80,85,87,111],"design":[3],"and":[4,45,97,107],"implementation":[5],"of":[6,114],"a":[7,31,38,100],"biped":[8,29],"locomotion":[9,30],"strategy":[10],"for":[11,19,78],"robot":[13,23,63],"Sony":[14],"ERS-210":[15],"(AIBO).":[16],"Being":[17],"designed":[18],"quadruped":[20],"gaits,":[21],"this":[22],"has":[24,64],"several":[25],"limitations":[26],"which":[27,61],"make":[28],"challenging":[32],"task,":[33],"such":[34],"as":[35],"passive":[36],"feet,":[37],"high":[39],"barycenter":[40],"in":[41,60,70],"erect":[43],"posture,":[44],"relatively":[46],"weak":[47],"actuators.":[48],"have":[50],"therefore":[51],"chosen":[52],"to":[53,72],"fully":[54],"exploit":[55],"double":[57],"support":[58,82],"phase,":[59],"both":[65],"feet":[66],"on":[67],"ground,":[69],"order":[71],"achieve":[73],"correct":[75],"take-off":[76],"conditions":[77],"performing":[79],"single":[81],"phase.":[83],"During":[84],"latter,":[86],"mechanism":[88],"motion":[89],"is":[90],"essentially":[91],"uncontrolled":[92],"but":[93],"can":[94],"be":[95],"predicted":[96],"planned":[98],"using":[99],"simple":[101],"equivalent":[102],"mechanical":[103],"system.":[104],"Both":[105],"simulation":[106],"experimental":[108],"results":[109],"show":[110],"positive":[112],"outcome":[113],"our":[115],"study.":[116]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}