{"id":"https://openalex.org/W2013606077","doi":"https://doi.org/10.1163/156855386x00193","title":"The gait control system of a quadruped walking vehicle","display_name":"The gait control system of a quadruped walking vehicle","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2013606077","doi":"https://doi.org/10.1163/156855386x00193","mag":"2013606077"},"language":"en","primary_location":{"id":"doi:10.1163/156855386x00193","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855386x00193","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/A5102288012","display_name":"Shigeo Hirose","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["Faculty of Engineering, Tokyo Institute of Technology, 2-12-1, \u014cokayama, Meguro-ku, Tokyo 152, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Engineering, Tokyo Institute of Technology, 2-12-1, \u014cokayama, Meguro-ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113956881","display_name":"Yasushi Fukuda","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yasushi Fukuda","raw_affiliation_strings":["Toshiba Ltd","Toshiba, Ltd"],"affiliations":[{"raw_affiliation_string":"Toshiba Ltd","institution_ids":[]},{"raw_affiliation_string":"Toshiba, Ltd","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081377877","display_name":"Hidekazu Kikuchi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hidekazu Kikuchi","raw_affiliation_strings":["Asahi Chemical Ind. Co., Ltd"],"affiliations":[{"raw_affiliation_string":"Asahi Chemical Ind. Co., Ltd","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5102288012"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":1.5341,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.80618229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"1","issue":"4","first_page":"289","last_page":"323"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9955999851226807,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9919000267982483,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6628640294075012},{"id":"https://openalex.org/keywords/joystick","display_name":"Joystick","score":0.6532995104789734},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5496578216552734},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49651557207107544},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4932064414024353},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4502972960472107},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4470868408679962},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4279296398162842},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3992357850074768},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3765808343887329},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20986968278884888},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19667863845825195},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0837298035621643}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6628640294075012},{"id":"https://openalex.org/C96439379","wikidata":"https://www.wikidata.org/wiki/Q178805","display_name":"Joystick","level":2,"score":0.6532995104789734},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5496578216552734},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49651557207107544},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4932064414024353},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4502972960472107},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4470868408679962},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4279296398162842},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3992357850074768},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3765808343887329},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20986968278884888},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19667863845825195},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0837298035621643},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855386x00193","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855386x00193","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":"Sustainable cities and communities","score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W219036020","https://openalex.org/W2005805981","https://openalex.org/W2012752411","https://openalex.org/W2075301351","https://openalex.org/W2321120164","https://openalex.org/W2323477175","https://openalex.org/W2734070457","https://openalex.org/W4237200682"],"related_works":["https://openalex.org/W2615607975","https://openalex.org/W2192101006","https://openalex.org/W2116800748","https://openalex.org/W2638730922","https://openalex.org/W2190465783","https://openalex.org/W2027827693","https://openalex.org/W2381267592","https://openalex.org/W4241033836","https://openalex.org/W3135637940","https://openalex.org/W2091378276"],"abstract_inverted_index":{"A":[0],"walking":[1,39,69,162],"vehicle":[2,70],"has":[3],"potential":[4],"capability":[5],"to":[6,9,118],"be":[7],"developed":[8,71],"an":[10],"off-road":[11],"machine":[12],"with":[13],"high":[14],"mobility":[15],"and":[16,50,99,132,175],"adaptivity":[17],"by":[18,72,161],"using":[19],"the":[20,34,45,55,61,73,77,80,85,89,114,127,149],"coordination":[21],"control":[22,36,48,63,90,104,123,134,142,171],"of":[23,26,37,88,93,106,135,164,172],"its":[24],"multi-degrees":[25],"freedom.":[27],"There":[28],"have":[29,43],"been":[30],"several":[31],"discussions":[32,158],"on":[33,66],"gait":[35,47,62,122],"a":[38,67,165],"vehicle,":[40],"although":[41],"few":[42],"mentioned":[44],"total":[46,56,86],"system":[49,64],"any":[51],"sub-systems":[52,116],"integrated":[53],"into":[54],"structure.":[57],"This":[58],"paper":[59],"discusses":[60],"based":[65],"quadruped":[68],"authors.":[74],"At":[75],"first,":[76],"premises":[78],"for":[79],"discussion":[81],"are":[82,159,181],"confirmed.":[83],"Then,":[84],"structure":[87],"system,":[91],"consisting":[92],"three":[94,115],"levels":[95],"named":[96],"A,":[97],"B":[98],"C,":[100,146],"is":[101,109,153],"clarified.":[102],"The":[103,141,169],"algorithm":[105,143],"each":[107],"level":[108,119,145],"studied":[110],"in":[111,124,129],"detail,":[112],"particularly":[113],"belonging":[117],"B,":[120],"i.e.":[121],"xy":[125],"coordinates,":[126],"same":[128],"z":[130],"coordinate":[131],"trajectory":[133],"legs":[136],"taking":[137],"account":[138],"up/down":[139],"swinging.":[140],"at":[144],"which":[147],"regulates":[148],"basic":[150],"reflex":[151],"motions,":[152],"specifically":[154],"discussed.":[155],"Finally,":[156],"these":[157],"verified":[160],"experiments":[163],"model":[166],"TITAN":[167],"III.":[168],"joystick":[170],"omnidirectional":[173],"motions":[174],"adaptive":[176],"locomotion":[177],"over":[178],"irregular":[179],"surfaces":[180],"successfully":[182],"demonstrated.":[183]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}