{"id":"https://openalex.org/W2766895006","doi":"https://doi.org/10.1109/ssrr.2017.8088167","title":"Crawling gait generation method for four-limbed robot based on normalized energy stability margin","display_name":"Crawling gait generation method for four-limbed robot based on normalized energy stability margin","publication_year":2017,"publication_date":"2017-10-01","ids":{"openalex":"https://openalex.org/W2766895006","doi":"https://doi.org/10.1109/ssrr.2017.8088167","mag":"2766895006"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2017.8088167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2017.8088167","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/A5102295037","display_name":"T. 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":true,"raw_author_name":"T. Matsuzawa","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","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":false,"raw_author_name":"K. Hashimoto","raw_affiliation_strings":["Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","Waseda Institute for Advanced Study, Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Waseda Institute for Advanced Study, Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan","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":"X. Sun","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","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":"T. Teramachi","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, 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":"S. Kimura","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112181706","display_name":"N. 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":"N. Sakai","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","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":"Y. Yoshida","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009377685","display_name":"Akira Imai","orcid":"https://orcid.org/0000-0002-3058-9915"},"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":"A. Imai","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062535469","display_name":"Kazukiyo Kumagai","orcid":"https://orcid.org/0000-0002-0425-9410"},"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. Kumagai","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","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":"T. Matsubara","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112323164","display_name":"K. 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":"K. Yamaguchi","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103865440","display_name":"Wei Xin Tan","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":"W. X. Tan","raw_affiliation_strings":["Faculty of Science of Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science of Engineering, Waseda University, Tokyo, Japan","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":"A. Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","Department of Modern Mechanical Engineering, Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Department of Modern Mechanical Engineering, Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":13,"corresponding_author_ids":["https://openalex.org/A5102295037"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.3824,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.60579353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"223","last_page":"229"},"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":0.9984999895095825,"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":0.9879000186920166,"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":0.9404919743537903},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.6048040390014648},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.593646764755249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5365263223648071},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5347306728363037},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4501946270465851},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3884270489215851},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2420019507408142},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.0958285927772522},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.0810239315032959},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07691159844398499},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.06617441773414612}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9404919743537903},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.6048040390014648},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.593646764755249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5365263223648071},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5347306728363037},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4501946270465851},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3884270489215851},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2420019507408142},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0958285927772522},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0810239315032959},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07691159844398499},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.06617441773414612}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssrr.2017.8088167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2017.8088167","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/7","score":0.7799999713897705,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1525008876","https://openalex.org/W1822001265","https://openalex.org/W2036484113","https://openalex.org/W2103427741","https://openalex.org/W2105610112","https://openalex.org/W2116173495","https://openalex.org/W2116528556","https://openalex.org/W2161450717","https://openalex.org/W2506598614","https://openalex.org/W2514192476","https://openalex.org/W2569445514","https://openalex.org/W2737523026"],"related_works":["https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2171573941","https://openalex.org/W4317382653","https://openalex.org/W3119324922","https://openalex.org/W4390135167","https://openalex.org/W2968643431"],"abstract_inverted_index":{"In":[0,245],"this":[1,186,209],"paper,":[2],"we":[3,188],"describe":[4],"a":[5,14,27,39,59,157,190,201,215,224],"gait":[6,193],"generation":[7,194],"method":[8,28,191,210,266],"for":[9,195],"the":[10,33,54,66,70,74,78,89,93,100,102,111,120,129,138,141,149,159,165,176,196,206,212,228,232,237,240,243,256,260,264],"crawling":[11,24,181,197,261],"motion":[12,25,198,262],"of":[13,29,41,62,68,80,104,143,192,214,226,231,239,242],"legged":[15],"robot":[16,34,55,75,130,177,258],"using":[17,263],"Normalized":[18],"Energy":[19],"Stability":[20],"Margin":[21],"(NESM).":[22],"The":[23],"is":[26,35,96,108,147],"locomotion":[30],"that,":[31],"since":[32],"very":[36],"close":[37],"to":[38,52,56,131],"state":[40],"falling,":[42],"its":[43,114,169,180,221],"leg":[44],"and":[45,76,174,223],"torso":[46,95,146,222],"are":[47,116,171],"grounded":[48],"alternately":[49],"in":[50,97,117,124,137],"order":[51],"enable":[53],"move":[57],"with":[58,99,119,164,185,217],"low":[60],"center":[61],"gravity.":[63],"It":[64],"has":[65,248],"benefit":[67],"decreasing":[69],"impact":[71],"experienced":[72],"by":[73],"reduces":[77],"risk":[79],"becoming":[81],"damaged":[82],"if":[83],"it":[84,219,247],"falls":[85],"over.":[86],"However,":[87],"during":[88],"phase":[90],"where":[91,140],"only":[92],"robot's":[94,105,144,160,233],"contact":[98,118],"ground,":[101],"size":[103],"support":[106,125,151],"area":[107,126],"smaller":[109],"than":[110],"case":[112],"when":[113,168,255],"legs":[115,170],"ground.":[121],"This":[122],"decrease":[123],"may":[127,162],"cause":[128],"fall":[132],"or":[133],"tip":[134],"over":[135],"sideways":[136],"direction":[139],"edge":[142],"cuboid":[145],"providing":[148],"most":[150],"on":[152,200,205,236,267],"an":[153,268],"inclined":[154,269],"surface.":[155,271],"As":[156],"result,":[158],"feet":[161,234],"collide":[163],"road's":[166],"surface":[167,241],"moving":[172],"forward":[173],"prevent":[175],"from":[178],"performing":[179],"motion.":[182],"To":[183],"deal":[184],"problem,":[187],"propose":[189],"based":[199],"stability":[202,207,252],"criteria.":[203],"Depending":[204],"criteria,":[208],"involves":[211],"selection":[213],"stance,":[216],"which":[218],"lifts":[220],"way":[225],"controlling":[227],"landing":[229],"height":[230],"depending":[235],"unevenness":[238],"road.":[244],"experiments,":[246],"been":[249],"confirmed":[250],"that":[251],"was":[253],"improved":[254],"four-limbed":[257],"performed":[259],"proposed":[265],"road":[270]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
