{"id":"https://openalex.org/W2013524879","doi":"https://doi.org/10.1109/urai.2013.6677382","title":"Gait control of combined rimless wheel using active wobbling mass that vibrates backward and forward","display_name":"Gait control of combined rimless wheel using active wobbling mass that vibrates backward and forward","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2013524879","doi":"https://doi.org/10.1109/urai.2013.6677382","mag":"2013524879"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2013.6677382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2013.6677382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["Hokuriku Sentan Kagaku Gijutsu Daigakuin Daigaku, Nomi, Ishikawa, JP","School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokuriku Sentan Kagaku Gijutsu Daigakuin Daigaku, Nomi, Ishikawa, JP","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090949614","display_name":"Yukihiro Akutsu","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukihiro Akutsu","raw_affiliation_strings":["Hokuriku Sentan Kagaku Gijutsu Daigakuin Daigaku, Nomi, Ishikawa, JP","School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hokuriku Sentan Kagaku Gijutsu Daigakuin Daigaku, Nomi, Ishikawa, JP","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038629773","display_name":"Isao T. Tokuda","orcid":"https://orcid.org/0000-0001-6212-0022"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isao Tokuda","raw_affiliation_strings":["Ritsumeikan Daigaku, Kyoto, Kyoto, JP","Dept. of Mech. Eng., Ritsumeikan Univ., Kusatsu, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan Daigaku, Kyoto, Kyoto, JP","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Ritsumeikan Univ., Kusatsu, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4103,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64605936,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"309","issue":null,"first_page":"340","last_page":"345"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9783999919891357,"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/control-theory","display_name":"Control theory (sociology)","score":0.7822787761688232},{"id":"https://openalex.org/keywords/speed-wobble","display_name":"Speed wobble","score":0.7175427675247192},{"id":"https://openalex.org/keywords/entrainment","display_name":"Entrainment (biomusicology)","score":0.6402168273925781},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.48341643810272217},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4178970456123352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40598633885383606},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.36637187004089355},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3264836072921753},{"id":"https://openalex.org/keywords/rhythm","display_name":"Rhythm","score":0.26275742053985596},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18317446112632751},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1603865623474121},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.15288734436035156},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1272997260093689},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1031416654586792}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7822787761688232},{"id":"https://openalex.org/C50566430","wikidata":"https://www.wikidata.org/wiki/Q1817859","display_name":"Speed wobble","level":2,"score":0.7175427675247192},{"id":"https://openalex.org/C139992725","wikidata":"https://www.wikidata.org/wiki/Q5380656","display_name":"Entrainment (biomusicology)","level":3,"score":0.6402168273925781},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.48341643810272217},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4178970456123352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40598633885383606},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.36637187004089355},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3264836072921753},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.26275742053985596},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18317446112632751},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1603865623474121},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.15288734436035156},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1272997260093689},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1031416654586792},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2013.6677382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2013.6677382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W950991549","https://openalex.org/W1968192962","https://openalex.org/W2010278105","https://openalex.org/W2015324860","https://openalex.org/W2015768103","https://openalex.org/W2029393028","https://openalex.org/W2051908858","https://openalex.org/W2117635941","https://openalex.org/W2125453397","https://openalex.org/W2126681102"],"related_works":["https://openalex.org/W2042739313","https://openalex.org/W1977772537","https://openalex.org/W2110179086","https://openalex.org/W2047739207","https://openalex.org/W3132857618","https://openalex.org/W2014777260","https://openalex.org/W2760435302","https://openalex.org/W1993409570","https://openalex.org/W2044519039","https://openalex.org/W2104778355"],"abstract_inverted_index":{"The":[0],"authors":[1],"have":[2],"clarified":[3],"that":[4,9,49,84],"an":[5,45],"active":[6,46],"wobbling":[7,36,47,79],"mass":[8,48],"vibrates":[10],"up-and-down":[11],"in":[12,54],"the":[13,25,30,35,42,55,59,66,74,78,85,93,99],"body":[14,56],"frame":[15,57],"of":[16,32,44,101],"a":[17],"passive":[18],"combined":[19],"rimless":[20],"wheel":[21],"(CRW)":[22],"significantly":[23],"increases":[24],"generated":[26,60],"walking":[27,86],"speed":[28,87],"by":[29,91],"effect":[31,100],"entrainment":[33,102],"to":[34,98],"motion.":[37],"This":[38],"paper":[39],"then":[40],"investigates":[41],"effects":[43],"moves":[50],"backward":[51],"and":[52,72],"forward":[53],"on":[58],"gait":[61],"properties.":[62],"First,":[63],"we":[64,82,107],"develop":[65],"reduced":[67],"mathematical":[68],"model":[69],"for":[70,76],"analysis":[71],"design":[73],"controller":[75],"driving":[77],"mass.":[80],"Second,":[81],"show":[83],"is":[88],"successfully":[89],"increased":[90],"adjusting":[92],"desired":[94],"wobble":[95],"frequency":[96],"according":[97],"through":[103],"numerical":[104],"simulations.":[105],"Furthermore,":[106],"conduct":[108],"verification":[109],"experiments":[110],"using":[111],"our":[112],"CRW":[113],"machine.":[114]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
