{"id":"https://openalex.org/W2170116736","doi":"https://doi.org/10.1109/robot.2005.1570186","title":"A Running Controller of Humanoid Biped HRP-2LR","display_name":"A Running Controller of Humanoid Biped HRP-2LR","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2170116736","doi":"https://doi.org/10.1109/robot.2005.1570186","mag":"2170116736"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570186","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":"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/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":"T. Nagasaki","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/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":26.9454,"has_fulltext":false,"cited_by_count":126,"citation_normalized_percentile":{"value":0.99796792,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"616","last_page":"622"},"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":0.9957000017166138,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9413999915122986,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.6897808909416199},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6047844290733337},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6008904576301575},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5088313221931458},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40396013855934143},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23271620273590088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19673380255699158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16943514347076416},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08729630708694458}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6897808909416199},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6047844290733337},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6008904576301575},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5088313221931458},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40396013855934143},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23271620273590088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19673380255699158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16943514347076416},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08729630708694458},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570186","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570186","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1581909396","https://openalex.org/W1944242754","https://openalex.org/W1971175227","https://openalex.org/W2074421808","https://openalex.org/W2092535029","https://openalex.org/W2102116977","https://openalex.org/W2108128471","https://openalex.org/W2118320757","https://openalex.org/W2123477693","https://openalex.org/W2124838131","https://openalex.org/W2135406175","https://openalex.org/W2142992961","https://openalex.org/W2158678516","https://openalex.org/W2161427949","https://openalex.org/W2171570677","https://openalex.org/W6676297898","https://openalex.org/W6683827756"],"related_works":["https://openalex.org/W1968045209","https://openalex.org/W2182011417","https://openalex.org/W2365785480","https://openalex.org/W2393509435","https://openalex.org/W2032904427","https://openalex.org/W2142250755","https://openalex.org/W2247155938","https://openalex.org/W1543892378","https://openalex.org/W2041694361","https://openalex.org/W2470215186"],"abstract_inverted_index":{"This":[0],"article":[1],"explains":[2],"a":[3,24],"control":[4,51],"system,":[5],"which":[6],"stabilizes":[7,27],"running":[8,16,25,33],"biped":[9],"robot":[10,13],"HRP-2LR.":[11],"The":[12,32],"uses":[14],"prescribed":[15],"pattern":[17],"calculated":[18],"by":[19],"resolved":[20],"momentum":[21],"control,":[22,44,47],"and":[23,52,75],"controller":[26,34],"the":[28,57],"system":[29],"against":[30],"disturbances.":[31],"consists":[35],"of":[36,67,72,78],"posture":[37],"stabilization,":[38,41],"inverted":[39],"pendulum":[40],"contact":[42],"torque":[43,53],"impact":[45],"absorbing":[46],"foot":[48],"vertical":[49],"force":[50],"distribution":[54],"control.":[55],"Applying":[56],"proposed":[58],"controller,":[59],"HRP-2LR":[60],"could":[61],"successfully":[62],"run":[63],"with":[64],"average":[65],"speed":[66],"0.16(m/s)":[68],"repeating":[69],"flight":[70],"phase":[71,77],"0.06":[73],"(s)":[74],"support":[76],"0.3":[79],"(s).":[80]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":6}],"updated_date":"2026-08-08T01:25:22.217667","created_date":"2025-10-10T00:00:00"}
