{"id":"https://openalex.org/W2587633542","doi":"https://doi.org/10.1109/smc.2016.7844441","title":"Dynamical analysis of simple models with flexible body for bounding in quadrupeds","display_name":"Dynamical analysis of simple models with flexible body for bounding in quadrupeds","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2587633542","doi":"https://doi.org/10.1109/smc.2016.7844441","mag":"2587633542"},"language":"en","primary_location":{"id":"doi:10.1109/smc.2016.7844441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2016.7844441","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","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/A5070094810","display_name":"Tomoya Kamimura","orcid":"https://orcid.org/0000-0001-5638-9113"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tomoya Kamimura","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013086274","display_name":"Yuichi Ambe","orcid":"https://orcid.org/0000-0003-4725-5513"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Ambe","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061965744","display_name":"Shinya Aoi","orcid":"https://orcid.org/0000-0001-9243-2641"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinya Aoi","raw_affiliation_strings":["Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109336779","display_name":"Kazuo Tsuchiya","orcid":null},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo Tsuchiya","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015434555","display_name":"Fumitoshi Matsuno","orcid":"https://orcid.org/0000-0001-9685-3267"},"institutions":[{"id":"https://openalex.org/I22299242","display_name":"Kyoto University","ror":"https://ror.org/02kpeqv85","country_code":"JP","type":"education","lineage":["https://openalex.org/I22299242"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumitoshi Matsuno","raw_affiliation_strings":["Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Aeronautics and Astronautics, Kyoto University, Kyoto, Japan","institution_ids":["https://openalex.org/I22299242"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5070094810"],"corresponding_institution_ids":["https://openalex.org/I22299242"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.16255569,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2016","issue":null,"first_page":"001449","last_page":"001454"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/flexibility","display_name":"Flexibility (engineering)","score":0.8478052616119385},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.8201489448547363},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.8018873333930969},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.6125222444534302},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5068114399909973},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5063291788101196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5060071349143982},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4443693161010742},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4116283655166626},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29715555906295776},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18061098456382751},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1250552535057068},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10725566744804382},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07043242454528809}],"concepts":[{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.8478052616119385},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.8201489448547363},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.8018873333930969},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.6125222444534302},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5068114399909973},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5063291788101196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5060071349143982},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4443693161010742},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4116283655166626},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29715555906295776},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18061098456382751},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1250552535057068},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10725566744804382},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07043242454528809},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/smc.2016.7844441","is_oa":false,"landing_page_url":"https://doi.org/10.1109/smc.2016.7844441","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)","raw_type":"proceedings-article"},{"id":"mag:2753004791","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702223122326581","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1943783206","https://openalex.org/W1968192962","https://openalex.org/W1974924365","https://openalex.org/W1983217982","https://openalex.org/W2069782733","https://openalex.org/W2074450346","https://openalex.org/W2077676902","https://openalex.org/W2138557224","https://openalex.org/W2142824257","https://openalex.org/W2156355884","https://openalex.org/W2161427949","https://openalex.org/W2286966931","https://openalex.org/W2460309394"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2141012854","https://openalex.org/W2145555530","https://openalex.org/W4210426000","https://openalex.org/W1910907922","https://openalex.org/W3179543309","https://openalex.org/W1968618465"],"abstract_inverted_index":{"The":[0],"observation":[1],"of":[2,42],"quadruped":[3,50],"animals":[4],"has":[5,96],"suggested":[6],"that":[7,67,116],"the":[8,14,19,29,39,43,47,59,68,72,86,93,110,114,117,121],"body":[9,20,44,69,118],"flexibility":[10,21,45,70,119],"is":[11,22],"important":[12],"for":[13,27],"bounding":[15,51],"gait.":[16],"In":[17,34],"particular,":[18],"assumed":[23],"to":[24,84,103],"be":[25],"crucial":[26],"determining":[28],"ground":[30],"reaction":[31],"force":[32],"(GRF).":[33],"this":[35],"paper,":[36],"we":[37,64,90,112],"investigated":[38,113],"dynamic":[40],"effect":[41],"on":[46,58,109],"GRF":[48,73,87,122],"in":[49,80],"with":[52],"simple":[53,76],"physical":[54],"models":[55],"by":[56],"focusing":[57],"vertical":[60],"motion.":[61],"More":[62],"specifically,":[63],"first":[65],"showed":[66],"reduces":[71,120],"using":[74],"a":[75],"two":[77],"legged":[78],"model":[79],"sagittal":[81],"plane.":[82],"Next,":[83],"clarify":[85],"reduction":[88],"mechanism,":[89],"further":[91],"simplified":[92],"model,":[94],"which":[95],"only":[97],"one":[98],"leg.":[99],"This":[100],"allowed":[101],"us":[102],"analytically":[104],"obtain":[105],"periodic":[106],"solutions.":[107],"Based":[108],"solutions,":[111],"mechanism":[115],"during":[123],"quadrupedal":[124],"bounding.":[125]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}