{"id":"https://openalex.org/W4389941667","doi":"https://doi.org/10.23919/sice59929.2023.10354245","title":"A mathematical model of collisions in passive dynamic walking of a compass-like biped walker with an angle limiter","display_name":"A mathematical model of collisions in passive dynamic walking of a compass-like biped walker with an angle limiter","publication_year":2023,"publication_date":"2023-09-06","ids":{"openalex":"https://openalex.org/W4389941667","doi":"https://doi.org/10.23919/sice59929.2023.10354245"},"language":"en","primary_location":{"id":"doi:10.23919/sice59929.2023.10354245","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/sice59929.2023.10354245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5036225483","display_name":"Yasushi Iwatani","orcid":"https://orcid.org/0000-0003-1446-8176"},"institutions":[{"id":"https://openalex.org/I916559398","display_name":"Kindai University","ror":"https://ror.org/05kt9ap64","country_code":"JP","type":"education","lineage":["https://openalex.org/I916559398"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Iwatani","raw_affiliation_strings":["Kindai University,Department of Robotics,Higashi Hiroshima,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kindai University,Department of Robotics,Higashi Hiroshima,Japan","institution_ids":["https://openalex.org/I916559398"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046613302","display_name":"Jialun Zhang","orcid":"https://orcid.org/0000-0002-4135-3609"},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jialun Zhang","raw_affiliation_strings":["Okayama University of Science,Department of Mechanical Systems Engineering,Okayama,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama University of Science,Department of Mechanical Systems Engineering,Okayama,Japan","institution_ids":["https://openalex.org/I136446963"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066849301","display_name":"Tetsuya KINUGASA","orcid":"https://orcid.org/0000-0001-9225-4419"},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Kinugasa","raw_affiliation_strings":["Okayama University of Science,Department of Mechanical Systems Engineering,Okayama,Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama University of Science,Department of Mechanical Systems Engineering,Okayama,Japan","institution_ids":["https://openalex.org/I136446963"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33849568,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"832","last_page":"837"},"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":0.9929999709129333,"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":0.9853000044822693,"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/compass","display_name":"Compass","score":0.9373677968978882},{"id":"https://openalex.org/keywords/limiter","display_name":"Limiter","score":0.7986855506896973},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5111947655677795},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3496463894844055},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34424838423728943},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.27812451124191284},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1471179723739624},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09739023447036743}],"concepts":[{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.9373677968978882},{"id":"https://openalex.org/C45011657","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiter","level":2,"score":0.7986855506896973},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5111947655677795},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3496463894844055},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34424838423728943},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.27812451124191284},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1471179723739624},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09739023447036743},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/sice59929.2023.10354245","is_oa":false,"landing_page_url":"http://dx.doi.org/10.23919/sice59929.2023.10354245","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd Annual Conference of the Society of Instrument and Control Engineers (SICE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1991852610","https://openalex.org/W2016102421","https://openalex.org/W2029742263","https://openalex.org/W2044082389","https://openalex.org/W2074686910","https://openalex.org/W2137547873","https://openalex.org/W2496648954","https://openalex.org/W3014658328","https://openalex.org/W4312378107","https://openalex.org/W4389495696","https://openalex.org/W6602037555"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2206872286","https://openalex.org/W2382913035","https://openalex.org/W2113447385","https://openalex.org/W2391335452","https://openalex.org/W2360876323","https://openalex.org/W2122695655","https://openalex.org/W2109954054","https://openalex.org/W2642723128"],"abstract_inverted_index":{"Compass-like":[0],"biped":[1,4,32,54,130,143,163],"robots":[2,5,33,144],"are":[3,10,18],"with":[6,56],"no":[7],"knees.":[8],"They":[9],"useful":[11,151],"for":[12,103,152,160],"investigating":[13],"walking":[14,101,158],"dynamics,":[15],"since":[16],"they":[17],"simple":[19],"and":[20,41,71,124,159],"capture":[21],"the":[22,42,46,64,69,83,86,97,116,122,138,154],"essence":[23],"of":[24,66,85,113,119,127,141,156],"walking,":[25],"especially":[26],"passive":[27,104],"dynamic":[28,105],"walking.":[29],"Passive":[30],"compass-like":[31,53,129,142],"have":[34,77],"angle":[35,44,58,87,98],"limiters":[36],"in":[37],"some":[38],"experimental":[39],"arrangements,":[40],"relative":[43],"between":[45,68,121],"two":[47],"legs":[48],"is":[49,89,93],"limited.":[50],"For":[51],"a":[52,72,110,125,128],"robot":[55],"an":[57,60],"limiter,":[59],"impact":[61,117],"occurs":[62],"at":[63,115],"time":[65,118],"collision":[67,120],"limiter":[70,88,99,123,139],"leg,":[73],"but":[74],"its":[75],"dynamics":[76,114,155],"not":[78],"been":[79],"modeled":[80],"yet.":[81],"Therefore,":[82],"effect":[84,140],"unclear,":[90],"while":[91],"it":[92],"experimentally":[94],"known":[95],"that":[96],"improves":[100],"robustness":[102],"walkers.":[106],"This":[107],"paper":[108],"provides":[109],"mathematical":[111],"model":[112,134],"leg":[126],"robot.":[131],"The":[132],"obtained":[133],"helps":[135],"to":[136],"analyze":[137],"computationally":[145],"and/or":[146],"theoretically.":[147],"It":[148],"may":[149],"be":[150],"understanding":[153],"bipedal":[157],"generating":[161],"human-like":[162],"locomotion.":[164]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}