{"id":"https://openalex.org/W2765978866","doi":"https://doi.org/10.1109/ssrr.2017.8088159","title":"WAREC-1 \u2014 A four-limbed robot having high locomotion ability with versatility in locomotion styles","display_name":"WAREC-1 \u2014 A four-limbed robot having high locomotion ability with versatility in locomotion styles","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2765978866","doi":"https://doi.org/10.1109/ssrr.2017.8088159","mag":"2765978866"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2017.8088159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2017.8088159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","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/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"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":"Kenji Hashimoto","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, JAPAN"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, JAPAN","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080702325","display_name":"Shunsuke Kimura","orcid":"https://orcid.org/0000-0001-9408-2884"},"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":"Shunsuke Kimura","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112328652","display_name":"Nobuaki Sakai","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":"Nobuaki Sakai","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059188638","display_name":"Shinya Hamamoto","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":"Shinya Hamamoto","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030666649","display_name":"Ayanori Koizumi","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":"Ayanori Koizumi","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020381885","display_name":"Xiao Sun","orcid":"https://orcid.org/0000-0002-3674-9422"},"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":"Xiao Sun","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102366088","display_name":"Takashi Matsuzawa","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":"Takashi Matsuzawa","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026819879","display_name":"Tomotaka Teramachi","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":"Tomotaka Teramachi","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034422539","display_name":"Yuki Yoshida","orcid":"https://orcid.org/0000-0003-4706-1954"},"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":"Yuki Yoshida","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101068135","display_name":"Asaki Imai","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":"Asaki Imai","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103788459","display_name":"Kengo Kumagai","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":"Kengo Kumagai","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074234455","display_name":"Takanobu Matsubara","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":"Takanobu Matsubara","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112330517","display_name":"Koki Yamaguchi","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":"Koki Yamaguchi","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111847058","display_name":"Gan Ma","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":"Gan Ma","raw_affiliation_strings":["Graduate School of Creative Science and Engineering, Waseda University"],"affiliations":[{"raw_affiliation_string":"Graduate School of Creative Science and Engineering, Waseda University","institution_ids":["https://openalex.org/I150744194"]}]},{"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Humanoid Robotics Institute (HRI), Waseda University"],"affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute (HRI), Waseda University","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":15,"corresponding_author_ids":["https://openalex.org/A5007690546"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":3.0591,"has_fulltext":false,"cited_by_count":44,"citation_normalized_percentile":{"value":0.91757382,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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":0.9988999962806702,"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":0.9979000091552734,"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/crawling","display_name":"Crawling","score":0.8100827932357788},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.744239091873169},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.7361276149749756},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7200775146484375},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.6484822034835815},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.522862434387207},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.48184192180633545},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45927315950393677},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4568009078502655},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.43855834007263184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4273010492324829},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4018031060695648},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2946476638317108},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2867000102996826},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2643110752105713},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1825440227985382},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.12365561723709106},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08971250057220459}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8100827932357788},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.744239091873169},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.7361276149749756},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7200775146484375},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.6484822034835815},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.522862434387207},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.48184192180633545},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45927315950393677},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4568009078502655},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.43855834007263184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4273010492324829},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4018031060695648},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2946476638317108},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2867000102996826},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2643110752105713},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1825440227985382},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.12365561723709106},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08971250057220459},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2017.8088159","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2017.8088159","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5899999737739563,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W568206298","https://openalex.org/W1488777087","https://openalex.org/W2012594623","https://openalex.org/W2037011962","https://openalex.org/W2078063607","https://openalex.org/W2114773052","https://openalex.org/W2138396958","https://openalex.org/W2174423225","https://openalex.org/W2211080258","https://openalex.org/W2214607041","https://openalex.org/W2417728065","https://openalex.org/W2533352770","https://openalex.org/W2554423287","https://openalex.org/W2562471435","https://openalex.org/W2569445514","https://openalex.org/W2772066009","https://openalex.org/W3150097765","https://openalex.org/W6600740208","https://openalex.org/W6677200189","https://openalex.org/W6728685715","https://openalex.org/W6730610448","https://openalex.org/W6746268076"],"related_works":["https://openalex.org/W2099437811","https://openalex.org/W2034150512","https://openalex.org/W2047002614","https://openalex.org/W2792115278","https://openalex.org/W1573749876","https://openalex.org/W2942196653","https://openalex.org/W1972877171","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W2909999226"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,27,125],"novel":[4],"four-limbed":[5],"robot,":[6],"WAREC-1":[7,47,62,137],"having":[8],"high":[9],"locomotion":[10,15,54],"ability":[11],"with":[12,35,67,71,97],"versatility":[13],"in":[14,49,69,73],"styles.":[16],"At":[17],"disaster":[18],"sites,":[19],"there":[20],"are":[21],"various":[22],"types":[23,94],"of":[24,37,107,135],"environments":[25,51],"where":[26],"robot":[28,77,112,138],"must":[29],"move":[30,114],"such":[31],"as":[32],"rough":[33],"terrain":[34],"possibility":[36],"collapse,":[38],"narrow":[39],"places,":[40],"stairs,":[41],"vertical":[42],"ladders":[43],"and":[44,59,87,128],"so":[45],"on.":[46],"moves":[48],"hazardous":[50],"by":[52,117],"changing":[53],"styles:":[55],"bipedal/quadrupedal":[56],"walking,":[57],"crawling,":[58],"ladder":[60],"climbing.":[61],"has":[63,124,131],"commonly":[64],"structured":[65],"limbs":[66,86],"28-DoFs":[68],"total":[70],"7-DoFs":[72],"each":[74],"limb.":[75],"The":[76,122],"is":[78,139],"1,690":[79],"mm":[80],"tall":[81],"when":[82],"standing":[83],"on":[84,115,119],"two":[85],"weighs":[88],"155":[89],"kg.":[90],"We":[91],"developed":[92],"three":[93],"actuator":[95],"units":[96],"hollow":[98],"structure":[99],"to":[100,113],"pass":[101],"the":[102,105,111,129,136],"wiring":[103],"inside":[104],"joints":[106],"WAREC-1,":[108],"which":[109],"enables":[110],"rubble":[116],"creeping":[118],"its":[120],"stomach.":[121],"body":[123],"concave":[126],"shape,":[127],"end-effector":[130],"hook-like":[132],"shape.":[133],"Verification":[134],"conducted":[140],"through":[141],"experiments.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}