{"id":"https://openalex.org/W1981624547","doi":"https://doi.org/10.1109/sii.2013.6776718","title":"Turn control of a three-dimensional quasi-passive walking robot based on forced entrainment","display_name":"Turn control of a three-dimensional quasi-passive walking robot based on forced entrainment","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1981624547","doi":"https://doi.org/10.1109/sii.2013.6776718","mag":"1981624547"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2013.6776718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2013.6776718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2013 IEEE/SICE International Symposium on System Integration","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/A5006907783","display_name":"Ying Cao","orcid":"https://orcid.org/0000-0002-9288-3167"},"institutions":[{"id":"https://openalex.org/I98957242","display_name":"Kitami Institute of Technology","ror":"https://ror.org/05wks2t16","country_code":"JP","type":"education","lineage":["https://openalex.org/I98957242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ying Cao","raw_affiliation_strings":["Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","Grad. Sch. of Eng., Kitami Inst. of Technol., Kitami, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","institution_ids":["https://openalex.org/I98957242"]},{"raw_affiliation_string":"Grad. Sch. of Eng., Kitami Inst. of Technol., Kitami, Japan","institution_ids":["https://openalex.org/I98957242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012907894","display_name":"Soichiro SUZUKI","orcid":"https://orcid.org/0000-0003-3342-868X"},"institutions":[{"id":"https://openalex.org/I98957242","display_name":"Kitami Institute of Technology","ror":"https://ror.org/05wks2t16","country_code":"JP","type":"education","lineage":["https://openalex.org/I98957242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Soichiro Suzuki","raw_affiliation_strings":["Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","Dept. of Mech. Eng., Kitami Inst. of Technol., Kitami, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","institution_ids":["https://openalex.org/I98957242"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Kitami Inst. of Technol., Kitami, Japan","institution_ids":["https://openalex.org/I98957242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069491400","display_name":"Yohei HOSHINO","orcid":"https://orcid.org/0000-0003-1052-7079"},"institutions":[{"id":"https://openalex.org/I98957242","display_name":"Kitami Institute of Technology","ror":"https://ror.org/05wks2t16","country_code":"JP","type":"education","lineage":["https://openalex.org/I98957242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yohei Hoshino","raw_affiliation_strings":["Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","Dept. of Mech. Eng., Kitami Inst. of Technol., Kitami, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Kitami Institute of Technology, Kitami, Hokkaido, Japan","institution_ids":["https://openalex.org/I98957242"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Kitami Inst. of Technol., Kitami, Japan","institution_ids":["https://openalex.org/I98957242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"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":0.06578105,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"307","issue":null,"first_page":"312","last_page":"317"},"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":0.9921000003814697,"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/T10868","display_name":"Soft Robotics and Applications","score":0.97079998254776,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/turn","display_name":"Turn (biochemistry)","score":0.7250649929046631},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6193968653678894},{"id":"https://openalex.org/keywords/entrainment","display_name":"Entrainment (biomusicology)","score":0.5842658281326294},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.5658515095710754},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.538139283657074},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.5324175357818604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5192463397979736},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.5118833780288696},{"id":"https://openalex.org/keywords/inclination-angle","display_name":"Inclination angle","score":0.47480905055999756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4216739237308502},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4129980206489563},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3278096914291382},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.28898394107818604},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.21415984630584717},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19359096884727478},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19144529104232788},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17903393507003784},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.15742820501327515},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0986088216304779}],"concepts":[{"id":"https://openalex.org/C85641259","wikidata":"https://www.wikidata.org/wiki/Q290042","display_name":"Turn (biochemistry)","level":2,"score":0.7250649929046631},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6193968653678894},{"id":"https://openalex.org/C139992725","wikidata":"https://www.wikidata.org/wiki/Q5380656","display_name":"Entrainment (biomusicology)","level":3,"score":0.5842658281326294},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.5658515095710754},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.538139283657074},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.5324175357818604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5192463397979736},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.5118833780288696},{"id":"https://openalex.org/C2984925000","wikidata":"https://www.wikidata.org/wiki/Q4112212","display_name":"Inclination angle","level":2,"score":0.47480905055999756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4216739237308502},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4129980206489563},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3278096914291382},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.28898394107818604},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.21415984630584717},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19359096884727478},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19144529104232788},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17903393507003784},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.15742820501327515},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0986088216304779},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C46141821","wikidata":"https://www.wikidata.org/wiki/Q209402","display_name":"Nuclear magnetic resonance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2013.6776718","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2013.6776718","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2013 IEEE/SICE International Symposium on System Integration","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1586093443","https://openalex.org/W1969644139","https://openalex.org/W2029058516","https://openalex.org/W2065942939","https://openalex.org/W2119105564","https://openalex.org/W2153763008","https://openalex.org/W2163668399","https://openalex.org/W2314346975","https://openalex.org/W2335471957","https://openalex.org/W2575978554","https://openalex.org/W6657490393"],"related_works":["https://openalex.org/W4231070408","https://openalex.org/W943151747","https://openalex.org/W2048981943","https://openalex.org/W2379128895","https://openalex.org/W2070777379","https://openalex.org/W2992788005","https://openalex.org/W2808227726","https://openalex.org/W4285524193","https://openalex.org/W2383085000","https://openalex.org/W4401798459"],"abstract_inverted_index":{"A":[0],"turn":[1,15,54,88,91],"control":[2,74],"strategy":[3],"was":[4,35,76],"proposed":[5],"in":[6,102],"order":[7],"to":[8,14,100],"enable":[9],"a":[10,21],"quasi-passive":[11],"walking":[12],"robot":[13,86,99],"on":[16,25],"flat":[17],"ground":[18],"by":[19,37,59],"utilizing":[20],"mechanical":[22,33,70],"oscillator":[23,34,71],"based":[24],"forced":[26],"entrainment.":[27],"The":[28,53,73,81],"target":[29],"trajectory":[30],"of":[31,40,47,51,64,68],"the":[32,48,61,65,69,85,98],"determined":[36],"online":[38],"planning":[39],"its":[41],"period,":[42],"phase,":[43],"amplitude":[44],"and":[45,78,93],"angle":[46,63],"central":[49,66],"axis":[50,67],"oscillation.":[52],"radius":[55,92],"can":[56,87],"be":[57],"controlled":[58],"adjusting":[60],"inclination":[62],"movement.":[72],"method":[75],"numerically":[77],"experimentally":[79],"examined.":[80],"results":[82],"show":[83],"that":[84],"with":[89],"different":[90],"it":[94],"is":[95],"possible":[96],"for":[97],"walk":[101],"various":[103],"environments.":[104]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}