{"id":"https://openalex.org/W2071406810","doi":"https://doi.org/10.1163/156855390x00305","title":"Dynamics in the dynamic walk of a quadruped robot","display_name":"Dynamics in the dynamic walk of a quadruped robot","publication_year":1989,"publication_date":"1989-01-01","ids":{"openalex":"https://openalex.org/W2071406810","doi":"https://doi.org/10.1163/156855390x00305","mag":"2071406810"},"language":"en","primary_location":{"id":"doi:10.1163/156855390x00305","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855390x00305","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/A5052156948","display_name":"Hiroshi Kimura","orcid":"https://orcid.org/0000-0002-0967-1068"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hiroshi Kimura","raw_affiliation_strings":["Department of Mechanical Engineering , University of Tohoku, Aramaki Aoba, Aoba-ku, Sendai 980, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering , University of Tohoku, Aramaki Aoba, Aoba-ku, Sendai 980, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055249128","display_name":"Isao Shimoyama","orcid":"https://orcid.org/0000-0002-0116-3085"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Isao Shimoyama","raw_affiliation_strings":["Department of Mechanial Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyou-ku, Tokyo 113, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanial Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyou-ku, Tokyo 113, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103745855","display_name":"Hirofumi MIURA","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hirofumi Miura","raw_affiliation_strings":["Department of Mechanial Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyou-ku, Tokyo 113, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanial Engineering, University of Tokyo, 7-3-1, Hongo, Bunkyou-ku, Tokyo 113, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5052156948"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":103,"citation_normalized_percentile":{"value":0.18980922,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"4","issue":"3","first_page":"283","last_page":"301"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9988999962806702,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9914000034332275,"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/stride","display_name":"STRIDE","score":0.8498129844665527},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6350151300430298},{"id":"https://openalex.org/keywords/pace","display_name":"Pace","score":0.6144023537635803},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.5800768136978149},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5197881460189819},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5188406705856323},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.5172156095504761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5078676342964172},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4941606819629669},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45456814765930176},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4220881760120392},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.26521071791648865},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17831960320472717},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17006802558898926},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13669902086257935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11559289693832397},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08831608295440674}],"concepts":[{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.8498129844665527},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6350151300430298},{"id":"https://openalex.org/C2777526511","wikidata":"https://www.wikidata.org/wiki/Q691543","display_name":"Pace","level":2,"score":0.6144023537635803},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.5800768136978149},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5197881460189819},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5188406705856323},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.5172156095504761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5078676342964172},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4941606819629669},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45456814765930176},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4220881760120392},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.26521071791648865},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17831960320472717},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17006802558898926},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13669902086257935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11559289693832397},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08831608295440674},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855390x00305","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855390x00305","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2004763727","https://openalex.org/W2012752411","https://openalex.org/W2061063863","https://openalex.org/W2066936651","https://openalex.org/W2070038508","https://openalex.org/W2161427949"],"related_works":["https://openalex.org/W2105233502","https://openalex.org/W3141840228","https://openalex.org/W4206661479","https://openalex.org/W3134497028","https://openalex.org/W4223565945","https://openalex.org/W2042585269","https://openalex.org/W1965885603","https://openalex.org/W2002270422","https://openalex.org/W4384824586","https://openalex.org/W2287760937"],"abstract_inverted_index":{"Walk":[0],"can":[1,103],"be":[2],"classified":[3],"as":[4,90],"'static":[5],"walk'":[6],"and":[7,21,58,67,115,182],"'dynamic":[8],"walk'.":[9],"It":[10,106],"is":[11,16,40,107,127,136,151,156,163,168],"said":[12],"that":[13],"dynamic":[14],"walk":[15,32,110],"superior":[17],"in":[18,42,118],"both":[19],"speed":[20],"energy":[22,142,159],"consumption.":[23,160],"This":[24],"paper":[25],"describes":[26],"how":[27],"a":[28,95,112,128,137,145],"quadruped":[29,102,177],"robot":[30,178],"should":[31],"dynamically":[33],"to":[34,52,84,109,120],"realize":[35],"these":[36,64,185],"advantages.":[37],"Such":[38],"consideration":[39],"lacking":[41],"past":[43],"research.":[44],"In":[45],"this":[46],"paper,":[47],"three":[48,65],"criteria":[49,66],"are":[50,81,89,187],"introduced":[51],"evaluate":[53],"the":[54,68,76,85,98,101,122,132,141,154,166,176,180],"walk-'stability',":[55],"'maximum":[56],"speed',":[57],"'energy":[59],"consumption'.":[60],"The":[61,87,93],"relations":[62,186],"between":[63],"parameters":[69],"(gait,":[70],"speed,":[71],"period,":[72],"stride,":[73],"length":[74],"of":[75,184],"leg,":[77],"joint":[78],"angles,":[79],"etc.)":[80],"formulated":[82],"accordingly":[83],"dynamics.":[86],"conclusions":[88],"follows:":[91],"(1)":[92],"shorter":[94],"period":[96,114,129,138],"is,":[97],"more":[99],"stably":[100],"walk.":[104],"(2)":[105],"desirable":[108,152],"with":[111],"longer":[113],"wider":[116],"stride":[117],"order":[119],"increase":[121],"maximum":[123,171],"speed.":[124,133,147,172],"(3)":[125],"There":[126,135],"which":[130,139],"maximizes":[131],"(4)":[134],"minimizes":[140],"consumption":[143],"for":[144],"given":[146],"(5)":[148],"Trot":[149],"gait":[150,162],"when":[153,165],"priority":[155,167],"placed":[157,169],"on":[158,170],"Pace":[161],"recommended":[164],"From":[173],"experiments":[174],"using":[175],"Collie-2,":[179],"validity":[181],"usefulness":[183],"verified.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
