{"id":"https://openalex.org/W4406112741","doi":"https://doi.org/10.3389/frobt.2024.1473628","title":"Bicycle-inspired simple balance control method for quadruped robots in high-speed running","display_name":"Bicycle-inspired simple balance control method for quadruped robots in high-speed running","publication_year":2025,"publication_date":"2025-01-06","ids":{"openalex":"https://openalex.org/W4406112741","doi":"https://doi.org/10.3389/frobt.2024.1473628","pmid":"https://pubmed.ncbi.nlm.nih.gov/39835246"},"language":"en","primary_location":{"id":"doi:10.3389/frobt.2024.1473628","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1473628","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3389/frobt.2024.1473628","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051561755","display_name":"S. Hattori","orcid":"https://orcid.org/0000-0002-9093-0038"},"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"]},{"id":"https://openalex.org/I205924995","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466","country_code":"JP","type":"nonprofit","lineage":["https://openalex.org/I1319490839","https://openalex.org/I205924995"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shoei Hattori","raw_affiliation_strings":["Department of Electrical Engineering, Tohoku University, Sendai, Japan","Division for Interdisciplinary Advanced Research and Education, Tohoku University, Sendai, Japan","Japan Society for the Promotion Science, Tokyo, Japan","Research Institute of Electrical Communication, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Division for Interdisciplinary Advanced Research and Education, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Japan Society for the Promotion Science, Tokyo, Japan","institution_ids":["https://openalex.org/I205924995"]},{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015911573","display_name":"Shura Suzuki","orcid":"https://orcid.org/0000-0002-5392-2346"},"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":"Shura Suzuki","raw_affiliation_strings":["Research Institute of Electrical Communication, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034590272","display_name":"Akira Fukuhara","orcid":"https://orcid.org/0000-0003-4303-7594"},"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":false,"raw_author_name":"Akira Fukuhara","raw_affiliation_strings":["Research Institute of Electrical Communication, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062023983","display_name":"Takeshi Kano","orcid":"https://orcid.org/0000-0002-2033-4695"},"institutions":[{"id":"https://openalex.org/I84400586","display_name":"Future University Hakodate","ror":"https://ror.org/05szw2z23","country_code":"JP","type":"education","lineage":["https://openalex.org/I84400586"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takeshi Kano","raw_affiliation_strings":["School of Systems Information Science, Future University Hakodate, Hakodate, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Systems Information Science, Future University Hakodate, Hakodate, Japan","institution_ids":["https://openalex.org/I84400586"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079413812","display_name":"Akio Ishiguro","orcid":"https://orcid.org/0000-0003-2850-0149"},"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":false,"raw_author_name":"Akio Ishiguro","raw_affiliation_strings":["Research Institute of Electrical Communication, Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Institute of Electrical Communication, Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015911573"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":{"value":1900,"currency":"USD","value_usd":1900},"apc_paid":{"value":1900,"currency":"USD","value_usd":1900},"fwci":1.5928,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.80026201,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"11","issue":null,"first_page":"1473628","last_page":"1473628"},"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":0.9750999808311462,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7908768653869629},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.6647337675094604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6557139158248901},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6443188786506653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4485270082950592},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4065251052379608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33664724230766296},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.17650878429412842}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7908768653869629},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.6647337675094604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6557139158248901},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6443188786506653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4485270082950592},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4065251052379608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33664724230766296},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.17650878429412842},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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":4,"locations":[{"id":"doi:10.3389/frobt.2024.1473628","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1473628","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},{"id":"pmid:39835246","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39835246","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in robotics and AI","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11743184","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11743184","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Robot AI","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:52dc51834e924d4cb2e5110ff65c8f56","is_oa":true,"landing_page_url":"https://doaj.org/article/52dc51834e924d4cb2e5110ff65c8f56","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Robotics and AI, Vol 11 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/frobt.2024.1473628","is_oa":true,"landing_page_url":"https://doi.org/10.3389/frobt.2024.1473628","pdf_url":null,"source":{"id":"https://openalex.org/S2595095599","display_name":"Frontiers in Robotics and AI","issn_l":"2296-9144","issn":["2296-9144"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Robotics and AI","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4991656341","display_name":null,"funder_award_id":"JP22KJ2098","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1666253975","https://openalex.org/W1822124213","https://openalex.org/W1988135991","https://openalex.org/W1997576152","https://openalex.org/W2011747427","https://openalex.org/W2078676277","https://openalex.org/W2104442470","https://openalex.org/W2128615868","https://openalex.org/W2156346336","https://openalex.org/W2163668399","https://openalex.org/W2462948534","https://openalex.org/W2577207754","https://openalex.org/W2890776524","https://openalex.org/W2897319003","https://openalex.org/W2951633861","https://openalex.org/W2952867577","https://openalex.org/W3093326211","https://openalex.org/W3101817006","https://openalex.org/W3103345480","https://openalex.org/W4200528254","https://openalex.org/W4311486620","https://openalex.org/W4384926232","https://openalex.org/W4386528163","https://openalex.org/W6842575733"],"related_works":["https://openalex.org/W1585007175","https://openalex.org/W2382521049","https://openalex.org/W2144385241","https://openalex.org/W4300101996","https://openalex.org/W2165950148","https://openalex.org/W4253593777","https://openalex.org/W2951497643","https://openalex.org/W4403053866","https://openalex.org/W2142393343","https://openalex.org/W2338854850"],"abstract_inverted_index":{"This":[0,116],"paper":[1],"explores":[2],"the":[3,23,30,71,110,119,134],"applicability":[4],"of":[5,113,121,138],"bicycle-inspired":[6],"balance":[7,123],"control":[8,124,130,150],"in":[9,29,51,105],"a":[10,48,52,57,63,102],"quadruped":[11,53,139],"robot":[12,54],"model.":[13],"Bicycles":[14],"maintain":[15],"stability":[16,137],"and":[17,33,83,128,136],"change":[18],"direction":[19],"by":[20,42],"intuitively":[21],"steering":[22,65],"handle,":[24],"which":[25],"induces":[26],"yaw":[27,58],"motion":[28],"body":[31],"frame":[32],"generates":[34],"an":[35,126],"inertial":[36],"effect":[37],"to":[38,62],"support":[39],"balance.":[40],"Inspired":[41],"this":[43],"balancing":[44],"strategy,":[45],"we":[46],"implemented":[47],"similar":[49],"mechanism":[50],"model,":[55],"introducing":[56],"trunk":[59],"joint":[60],"analogous":[61],"bicycle's":[64],"handle.":[66],"Simulation":[67],"results":[68],"demonstrate":[69],"that":[70,85,97],"proposed":[72],"model":[73],"achieves":[74],"stable":[75],"high-speed":[76],"locomotion":[77],"with":[78,89,109],"robustness":[79],"against":[80],"external":[81],"disturbances":[82],"maneuverability":[84],"allows":[86],"directional":[87],"changes":[88],"only":[90],"slight":[91],"speed":[92],"reduction.":[93],"These":[94],"findings":[95],"suggest":[96],"utilizing":[98],"centrifugal":[99],"force":[100],"plays":[101],"critical":[103],"role":[104],"agile":[106,153],"locomotion,":[107],"aligning":[108],"movement":[111],"strategies":[112],"cursorial":[114],"animals.":[115],"study":[117],"underscores":[118],"potential":[120],"bicycle":[122],"as":[125,141,143],"effective":[127],"straightforward":[129],"approach":[131],"for":[132,152],"enhancing":[133],"agility":[135],"robots":[140],"well":[142],"potentially":[144],"offering":[145],"insights":[146],"into":[147],"animal":[148],"motor":[149],"mechanisms":[151],"locomotion.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-05-23T08:51:43.019350","created_date":"2025-10-10T00:00:00"}