{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:55Z","timestamp":1777715935800,"version":"3.51.4"},"reference-count":13,"publisher":"SAGE Publications","issue":"3-4","license":[{"start":{"date-parts":[[2003,3,1]],"date-time":"2003-03-01T00:00:00Z","timestamp":1046476800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2003,3]]},"abstract":"<jats:p>To make a walking machine more active and practical, reducing its weight without reducing its working ability is the key issue of design. A robot with many actuators that produce a function of a real animal's joint-base kinematics tends to be too heavy for a light-step animal-like walking. In this paper we propose the concept of reducing the number of actuators, which is extremely effective for reducing the weight of a walker. Considering the essence of walking locomotion, absolutely indispensable functions are an arbitrary movement of a swinging leg and some translation of the center of gravity to maintain balance. Seven actuators for a biped, four for a quadruped, six for a hexapod are the minimum numbers for essential functions. A six-actuator hexapod is realized by trial manufacturing. Furthermore, as a practical solution, more reduction is available by restricting walking functions. A five-actuator biped and a three-actuator quadruped are introduced in the experiments.<\/jats:p>","DOI":"10.1177\/0278364903022003008","type":"journal-article","created":{"date-parts":[[2003,7,1]],"date-time":"2003-07-01T18:06:05Z","timestamp":1057082765000},"page":"241-249","source":"Crossref","is-referenced-by-count":13,"title":["Non-Bio-Mimetic Walkers"],"prefix":"10.1177","volume":"22","author":[{"given":"Kan","family":"Yoneda","sequence":"first","affiliation":[{"name":"Tokyo Institute of Technology Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yusuke","family":"Ota","sequence":"additional","affiliation":[{"name":"Tokyo Institute of Technology Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2003,3,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"crossref","unstructured":"Arikawa, K., and Hirose, S. 1996. Development of quadruped walking robot TITAN-VIII. In Proc. 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