{"id":"https://openalex.org/W1482992573","doi":"https://doi.org/10.1109/robot.2005.1570184","title":"Evaluation of Various Walking Patterns of Biped Humanoid Robot","display_name":"Evaluation of Various Walking Patterns of Biped Humanoid Robot","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W1482992573","doi":"https://doi.org/10.1109/robot.2005.1570184","mag":"1482992573"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5110772100","display_name":"Yu Ogura","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yu Ogura","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","Graduate School ofScience and Engineering Waseda University Tokyo, Japan; uogura@ruri.waseda.jp"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate School ofScience and Engineering Waseda University Tokyo, Japan; uogura@ruri.waseda.jp","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020148140","display_name":"T. Kataoka","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Kataoka","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","uogura@ruri.waseda.jp"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"uogura@ruri.waseda.jp","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046843408","display_name":"Hiroyuki Aikawa","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Aikawa","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062050743","display_name":"K. Shimomura","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Shimomura","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Graduate Sch. of Sci. & Eng., Waseda Univ., Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108613685","display_name":"Hun-ok Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I41802502","display_name":"Kanagawa University","ror":"https://ror.org/02j6c0d67","country_code":"JP","type":"education","lineage":["https://openalex.org/I41802502"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hun-ok Lim","raw_affiliation_strings":["Department of Mechanical Engineering, Kanagawa University, Yokohama, Japan","Department of Mechanical Engineering , Kanagawa University , Yokohama , Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kanagawa University, Yokohama, Japan","institution_ids":["https://openalex.org/I41802502"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Kanagawa University , Yokohama , Japan","institution_ids":["https://openalex.org/I41802502"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"A. Takanishi","raw_affiliation_strings":["Department of Mechanical Engineering, Humanoid Robotics Institute, Waseda University, Tokyo, Japan","Department of Mechanical Engineering / Humanoid, Robotics Institute, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Humanoid Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Mechanical Engineering / Humanoid, Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5110772100"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":5.5798,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.95873655,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"603","last_page":"608"},"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":0.9930999875068665,"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":0.9815000295639038,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7682735323905945},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6922481656074524},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6100238561630249},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5789910554885864},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5642234683036804},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5345354080200195},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5338882803916931},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5222005248069763},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4913264811038971},{"id":"https://openalex.org/keywords/power-walking","display_name":"Power walking","score":0.4651065468788147},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42229220271110535},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.4116186797618866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33342522382736206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24742284417152405},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.23694995045661926},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2134299874305725},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11364969611167908},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09123390913009644}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7682735323905945},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6922481656074524},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6100238561630249},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5789910554885864},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5642234683036804},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5345354080200195},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5338882803916931},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5222005248069763},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4913264811038971},{"id":"https://openalex.org/C12847509","wikidata":"https://www.wikidata.org/wiki/Q1132973","display_name":"Power walking","level":3,"score":0.4651065468788147},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42229220271110535},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.4116186797618866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33342522382736206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24742284417152405},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.23694995045661926},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2134299874305725},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11364969611167908},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09123390913009644},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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":1,"locations":[{"id":"doi:10.1109/robot.2005.1570184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1551977735","https://openalex.org/W1874049655","https://openalex.org/W2098013359","https://openalex.org/W2108411677","https://openalex.org/W2138671676","https://openalex.org/W2142992961","https://openalex.org/W2153809618","https://openalex.org/W2158678516","https://openalex.org/W2159593326","https://openalex.org/W2771728446","https://openalex.org/W6683827756"],"related_works":["https://openalex.org/W3022276691","https://openalex.org/W2207434458","https://openalex.org/W4296218974","https://openalex.org/W84678330","https://openalex.org/W2996778109","https://openalex.org/W3207841873","https://openalex.org/W2168303459","https://openalex.org/W2371538778","https://openalex.org/W435345830","https://openalex.org/W2909351964"],"abstract_inverted_index":{"This":[0,38],"paper":[1,39],"describes":[2],"the":[3,49,65,93,102],"evaluation":[4],"of":[5,10,35,74,113],"three":[6],"different":[7],"walking":[8,28,41,50,107],"patterns":[9,16,29,108],"a":[11,21,56],"biped":[12,22,57],"humanoid":[13],"robot.":[14],"Stretch-walking":[15],"with":[17,26,30,99],"straight":[18],"legs":[19,32],"for":[20,44],"robot":[23],"are":[24,97,109],"compared":[25],"conventional":[27,66],"bent":[31],"in":[33,76,81,86,92,111],"terms":[34,112],"energy":[36,114],"consumption.":[37,115],"discusses":[40],"pattern":[42,51],"generation":[43],"various":[45],"walks.":[46],"To":[47],"confirm":[48],"evaluation,":[52],"we":[53],"have":[54],"developed":[55],"robot,":[58],"WABIAN-2/LL,":[59,100],"whose":[60],"leg":[61,67],"mechanism":[62,68],"differs":[63],"from":[64],"that":[69,105],"has":[70],"3":[71,84],"DOF":[72,80,85,91],"(degrees":[73],"freedom)":[75],"each":[77,82,87],"ankle,":[78],"1":[79],"knee,":[83],"hip,":[88],"and":[89,101],"2":[90],"waist.":[94],"Walking":[95],"experiments":[96],"conducted":[98],"results":[103],"demonstrate":[104],"stretch":[106],"effective":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
