{"id":"https://openalex.org/W2131544894","doi":"https://doi.org/10.1163/156855395x00030","title":"Dynamic and static fusion gait of a quadruped walking vehicle on a winding path","display_name":"Dynamic and static fusion gait of a quadruped walking vehicle on a winding path","publication_year":1994,"publication_date":"1994-01-01","ids":{"openalex":"https://openalex.org/W2131544894","doi":"https://doi.org/10.1163/156855395x00030","mag":"2131544894"},"language":"en","primary_location":{"id":"doi:10.1163/156855395x00030","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855395x00030","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/A5109248637","display_name":"Kan YONEDA","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":false,"raw_author_name":"Kan Yoneda","raw_affiliation_strings":["a    Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan","a Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"a Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","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":false,"raw_author_name":"Shigeo Hirose","raw_affiliation_strings":["b    Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan","b Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]},{"raw_affiliation_string":"b Tokyo Institute of Technology, 2-12-1, Ookayama, Meguro-ku, Tokyo 152, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.21641791,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"9","issue":"2","first_page":"125","last_page":"136"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9746000170707703,"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":0.9546999931335449,"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":0.6444200277328491},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5643690824508667},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5268346667289734},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5226411819458008},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5094078183174133},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4832226037979126},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4394019842147827},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4307540953159332},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28869402408599854},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.24747827649116516},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2108491063117981},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1876833736896515},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.18630778789520264},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13153383135795593},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.123533695936203},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.11241137981414795},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1001000702381134},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08266684412956238}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6444200277328491},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5643690824508667},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5268346667289734},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5226411819458008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5094078183174133},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4832226037979126},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4394019842147827},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4307540953159332},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28869402408599854},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.24747827649116516},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2108491063117981},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1876833736896515},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.18630778789520264},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13153383135795593},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.123533695936203},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.11241137981414795},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1001000702381134},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08266684412956238},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855395x00030","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855395x00030","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","id":"https://metadata.un.org/sdg/11","score":0.6200000047683716}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":2,"referenced_works":["https://openalex.org/W2036484113","https://openalex.org/W2323394726"],"related_works":["https://openalex.org/W3141840228","https://openalex.org/W3134497028","https://openalex.org/W4206661479","https://openalex.org/W4223565945","https://openalex.org/W2042585269","https://openalex.org/W1965885603","https://openalex.org/W2390631805","https://openalex.org/W3042389473","https://openalex.org/W2394325626","https://openalex.org/W2092186222"],"abstract_inverted_index":{"A":[0],"quadruped":[1,125],"walking":[2,70,121,126],"vehicle":[3],"has":[4],"the":[5,11,22,37,53,67,84,106,115,124],"potential":[6],"both":[7],"to":[8,19,69],"walk,":[9],"conserving":[10],"conditions":[12],"of":[13,39,55,58,86,108,114],"smoothness":[14],"and":[15,18,29,41,46,91,98,130],"static":[16,42],"stability,":[17],"run,":[20],"where":[21],"ride":[23],"will":[24],"be":[25],"bumpy":[26],"but":[27],"fast":[28],"dynamically":[30],"stable.":[31],"The":[32,78,112],"authors":[33],"have":[34],"already":[35],"proposed":[36],"concept":[38,68,107],"'dynamic":[40],"fusion":[43],"gait":[44,90],"control'":[45],"discussed":[47,82],"a":[48,75,87],"basic":[49],"control":[50,94],"scheme":[51,80],"for":[52],"purpose":[54],"adaptive":[56],"selection":[57],"these":[59],"gaits":[60],"during":[61],"continuous":[62],"walking.":[63],"This":[64],"paper":[65],"extends":[66],"at":[71],"variable":[72],"speeds":[73],"along":[74],"winding":[76],"path.":[77],"motion":[79,116],"is":[81,103],"on":[83,96,105],"basis":[85],"generalized":[88],"trot":[89],"incorporating":[92],"stability":[93],"based":[95,104],"feedforward":[97],"feedback":[99],"control;":[100],"trajectory":[101],"modification":[102],"zero":[109],"moment":[110],"point.":[111],"validity":[113],"schemes":[117],"was":[118],"verified":[119],"in":[120],"experiments":[122],"using":[123],"vehicles":[127],"TITAN":[128,131],"IV":[129],"VI.":[132]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
