{"id":"https://openalex.org/W1972204670","doi":"https://doi.org/10.1163/156855312x626352","title":"Mechanical Design of a Trunk with Redundant and Viscoelastic Joints for Rhythmic Quadruped Locomotion","display_name":"Mechanical Design of a Trunk with Redundant and Viscoelastic Joints for Rhythmic Quadruped Locomotion","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1972204670","doi":"https://doi.org/10.1163/156855312x626352","mag":"1972204670"},"language":"en","primary_location":{"id":"doi:10.1163/156855312x626352","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855312x626352","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-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/A5054318471","display_name":"Takashi Takuma","orcid":"https://orcid.org/0000-0003-2113-2232"},"institutions":[{"id":"https://openalex.org/I72375662","display_name":"Osaka Institute of Technology","ror":"https://ror.org/02znffm54","country_code":"JP","type":"education","lineage":["https://openalex.org/I72375662"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Takashi Takuma","raw_affiliation_strings":["a    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan;, Email: takuma@ee.oit.ac.jp"],"affiliations":[{"raw_affiliation_string":"a    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan;, Email: takuma@ee.oit.ac.jp","institution_ids":["https://openalex.org/I72375662"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078244554","display_name":"Ryota Izawa","orcid":null},"institutions":[{"id":"https://openalex.org/I72375662","display_name":"Osaka Institute of Technology","ror":"https://ror.org/02znffm54","country_code":"JP","type":"education","lineage":["https://openalex.org/I72375662"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryota Izawa","raw_affiliation_strings":["b    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan"],"affiliations":[{"raw_affiliation_string":"b    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan","institution_ids":["https://openalex.org/I72375662"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084727295","display_name":"Toshihiro Inoue","orcid":"https://orcid.org/0000-0003-3769-7609"},"institutions":[{"id":"https://openalex.org/I72375662","display_name":"Osaka Institute of Technology","ror":"https://ror.org/02znffm54","country_code":"JP","type":"education","lineage":["https://openalex.org/I72375662"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshihiro Inoue","raw_affiliation_strings":["c    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan"],"affiliations":[{"raw_affiliation_string":"c    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan","institution_ids":["https://openalex.org/I72375662"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110442047","display_name":"Tatsuya Masuda","orcid":null},"institutions":[{"id":"https://openalex.org/I72375662","display_name":"Osaka Institute of Technology","ror":"https://ror.org/02znffm54","country_code":"JP","type":"education","lineage":["https://openalex.org/I72375662"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tatsuya Masuda","raw_affiliation_strings":["d    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan"],"affiliations":[{"raw_affiliation_string":"d    Department of Electrical and Electronic Systems Engineering Osaka Institute of Technology, 5-16-1 Asahi-ku, Osaka City, Osaka 535-8585, Japan","institution_ids":["https://openalex.org/I72375662"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054318471"],"corresponding_institution_ids":["https://openalex.org/I72375662"],"apc_list":null,"apc_paid":null,"fwci":0.6454,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.68082755,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"26","issue":"7","first_page":"745","last_page":"764"},"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":0.9932000041007996,"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":0.9764000177383423,"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/viscoelasticity","display_name":"Viscoelasticity","score":0.7313382625579834},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7107563018798828},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.6637964248657227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6173096299171448},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.597149133682251},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.5057482719421387},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4600375294685364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44378191232681274},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4069943428039551},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3634897768497467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2919841706752777},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17875126004219055},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15596726536750793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1341380476951599},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13369593024253845},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0690331757068634},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06034919619560242}],"concepts":[{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.7313382625579834},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7107563018798828},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.6637964248657227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6173096299171448},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.597149133682251},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.5057482719421387},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4600375294685364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44378191232681274},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4069943428039551},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3634897768497467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2919841706752777},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17875126004219055},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15596726536750793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1341380476951599},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13369593024253845},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0690331757068634},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06034919619560242},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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":1,"locations":[{"id":"doi:10.1163/156855312x626352","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855312x626352","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5199999809265137,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1589854988","https://openalex.org/W1967109600","https://openalex.org/W1975214272","https://openalex.org/W1984816152","https://openalex.org/W1988274707","https://openalex.org/W1989796457","https://openalex.org/W1997935428","https://openalex.org/W2017970073","https://openalex.org/W2033226680","https://openalex.org/W2040238080","https://openalex.org/W2048963734","https://openalex.org/W2079863003","https://openalex.org/W2119911729","https://openalex.org/W2120894685","https://openalex.org/W2125414868","https://openalex.org/W2132892272","https://openalex.org/W2155970105","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W4221057967","https://openalex.org/W4243019676","https://openalex.org/W2517352629","https://openalex.org/W2783562378","https://openalex.org/W4293192718","https://openalex.org/W2045876794","https://openalex.org/W2255703620","https://openalex.org/W807319463","https://openalex.org/W2040929039","https://openalex.org/W3011889463"],"abstract_inverted_index":{"Passive":[0],"mechanisms,":[1],"such":[2],"as":[3,149],"free":[4],"joints":[5,67,129,209],"and":[6,23,39,57,68,84,95,111,120,125,158,184,203,228],"viscoelastic":[7],"components,":[8],"enable":[9],"natural":[10,37],"oscillation":[11,38,119,202],"of":[12,45,54,61,88,114,127,180,208,234],"the":[13,42,51,59,85,108,112,115,121,136,141,160,167,172,181,192,225,229,232,235],"robot":[14,77,90,138,153],"body,":[15],"which":[16],"allows":[17],"rhythmic":[18],"locomotion":[19,148],"with":[20,65,78,154],"low":[21],"energy":[22],"computational":[24],"costs.":[25],"In":[26],"particular,":[27],"joint":[28,96,123,173,182,196,213],"viscoelasticity":[29,70,116,124,174,183,197,214],"can":[30],"be":[31],"a":[32,55,62,79,152,155,205,211],"powerful":[33],"candidate":[34],"for":[35,91],"changing":[36],"so":[40],"influence":[41],"operation":[43],"performance":[44,87],"locomotion.":[46,73],"The":[47,187],"present":[48],"study":[49],"considers":[50],"passive":[52],"mechanism":[53,64,81,144,194,227,237],"trunk,":[56],"investigates":[58],"contributions":[60],"trunk":[63,80,118,128,143,157,193,236],"redundant":[66],"tunable":[69],"to":[71,117,146,151,200,224],"quadruped":[72,76],"A":[74,100],"physical":[75,109,137],"is":[82,98,103,162,238],"developed,":[83],"walking":[86],"this":[89],"various":[92],"gait":[93,168,185],"patterns":[94],"viscoelasticities":[97],"investigated.":[99],"simulation":[101,188],"model":[102],"also":[104,171,239],"constructed":[105],"based":[106],"on":[107],"robot,":[110],"contribution":[113],"appropriate":[122,178],"number":[126,207],"are":[130,177],"discussed.":[131],"Experimental":[132],"results":[133,189,219],"obtained":[134],"using":[135],"indicate":[139,190],"that":[140,159,191,204],"proposed":[142],"contributes":[145],"successful":[147],"compared":[150],"rigid":[156],"velocity":[161],"influenced":[163],"by":[164],"not":[165],"only":[166],"pattern,":[169],"but":[170],"(i.e.,":[175],"there":[176],"couplings":[179],"pattern).":[186],"requires":[195],"in":[198,222],"order":[199],"achieve":[201],"greater":[206],"having":[210],"smaller":[212],"enables":[215],"higher":[216],"velocity.":[217],"These":[218],"suggest":[220],"that,":[221],"addition":[223],"leg":[226],"controller":[230],"design,":[231],"design":[233],"important.":[240]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}