{"id":"https://openalex.org/W2074421808","doi":"https://doi.org/10.1109/robot.2004.1307219","title":"A hop towards running humanoid biped","display_name":"A hop towards running humanoid biped","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2074421808","doi":"https://doi.org/10.1109/robot.2004.1307219","mag":"2074421808"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1307219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kajita","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057655491","display_name":"T. Nagasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Nagasaki","raw_affiliation_strings":["University of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Kaneko","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057476470","display_name":"Kazuhito Yokoi","orcid":"https://orcid.org/0000-0003-3942-2027"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Yokoi","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031095083","display_name":"K. Tanie","orcid":null},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]},{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Tanie","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","University of Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":19.1478,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.99675651,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"629","last_page":"635 Vol.1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9243999719619751,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9021000266075134,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7477939128875732},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.5930210947990417},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.5834984183311462},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5820635557174683},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5802907347679138},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5541038513183594},{"id":"https://openalex.org/keywords/hop","display_name":"Hop (telecommunications)","score":0.5148076415061951},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.4861542880535126},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46577948331832886},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.431227445602417},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.418748676776886},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2635960578918457},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17451119422912598},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1704951822757721},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15515092015266418},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.07975649833679199}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7477939128875732},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.5930210947990417},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.5834984183311462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5820635557174683},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5802907347679138},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5541038513183594},{"id":"https://openalex.org/C25906391","wikidata":"https://www.wikidata.org/wiki/Q1432381","display_name":"Hop (telecommunications)","level":2,"score":0.5148076415061951},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.4861542880535126},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46577948331832886},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.431227445602417},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.418748676776886},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2635960578918457},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17451119422912598},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1704951822757721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15515092015266418},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.07975649833679199},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2004.1307219","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1307219","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.107.7273","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.107.7273","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://staff.aist.go.jp/k.kaneko/publications/2004_publications/ICRA2004-100_WM-5_5.pdf","raw_type":"text"}],"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/W1581909396","https://openalex.org/W1600647265","https://openalex.org/W1944242754","https://openalex.org/W2100185492","https://openalex.org/W2102116977","https://openalex.org/W2108197071","https://openalex.org/W2116860667","https://openalex.org/W2118320757","https://openalex.org/W2124838131","https://openalex.org/W2135406175","https://openalex.org/W2138046132","https://openalex.org/W2142992961","https://openalex.org/W2155614956","https://openalex.org/W2158678516","https://openalex.org/W2161427949","https://openalex.org/W2171570677","https://openalex.org/W4242875786","https://openalex.org/W6683827756"],"related_works":["https://openalex.org/W2389711585","https://openalex.org/W2371107339","https://openalex.org/W2996778109","https://openalex.org/W2371538778","https://openalex.org/W1912566312","https://openalex.org/W2048319068","https://openalex.org/W2151114014","https://openalex.org/W2114372896","https://openalex.org/W2368185326","https://openalex.org/W2386420955"],"abstract_inverted_index":{"Aiming":[0],"for":[1],"a":[2,13,39,87,113],"humanoid":[3],"robot":[4,24],"of":[5,42,55,91,106,116,134],"the":[6,52,56,75,78,81],"next":[7],"generation,":[8],"we":[9,65,84],"have":[10],"been":[11],"developing":[12],"biped":[14,23],"which":[15],"can":[16],"jump":[17],"and":[18,26,59,80,96,120],"run.":[19],"This":[20],"paper":[21],"introduces":[22],"HRP-2LR":[25,127],"its":[27],"hopping":[28,44,89,102],"with":[29,103,131],"both":[30],"legs":[31],"as":[32],"our":[33],"first":[34],"attempt":[35],"towards":[36],"running.":[37],"Using":[38],"dynamic":[40],"model":[41,79],"HRP-2LR,":[43],"patterns":[45],"are":[46],"pre-calculated":[47],"so":[48],"that":[49],"it":[50],"follows":[51],"desired":[53],"profiles":[54],"total":[57],"linear":[58],"angular":[60],"momentum.":[61],"For":[62],"this":[63],"purpose":[64],"used":[66],"resolved":[67],"momentum":[68],"control.":[69],"Adding":[70],"small":[71],"modifications":[72],"to":[73],"negotiate":[74],"difference":[76],"between":[77],"real":[82],"hardware,":[83],"successfully":[85,129],"realized":[86],"steady":[88],"motion":[90],"0.06":[92,117],"[s]":[93,98,118,122],"flight":[94,119],"phase":[95,124],"0.5":[97],"support":[99,123],"phase.":[100],"A":[101],"forward":[104],"velocity":[105],"15":[107],"[mm/s]":[108],"was":[109,125],"also":[110],"realized.":[111],"Finally,":[112],"running":[114],"pattern":[115],"03":[121],"tested.":[126],"could":[128],"run":[130],"average":[132],"speed":[133],"0.16":[135],"[m/s].":[136]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
