{"id":"https://openalex.org/W1964860164","doi":"https://doi.org/10.1109/iros.2006.281634","title":"Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots","display_name":"Parametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots","publication_year":2006,"publication_date":"2006-10-01","ids":{"openalex":"https://openalex.org/W1964860164","doi":"https://doi.org/10.1109/iros.2006.281634","mag":"1964860164"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2006.281634","doi":"https://doi.org/10.1109/iros.2006.281634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.281634","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"volume":null,"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/A5024107992","display_name":"Chenglong Fu","orcid":"https://orcid.org/0000-0002-8955-5429","observed_orcids":["https://orcid.org/0000-0002-8955-5429"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenglong Fu","raw_affiliation_strings":["Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","Dept. of Precise Instruments & Mechanology, Tsinghua Univ., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Dept. of Precise Instruments & Mechanology, Tsinghua Univ., Beijing","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058663160","display_name":"Mei Shuai","orcid":"https://orcid.org/0009-0005-4612-1646","observed_orcids":["https://orcid.org/0009-0005-4612-1646"]},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Shuai","raw_affiliation_strings":["Department of Mechatronics Engineering, Beihang University, Beijing, China","Department of Mechatronics Engineering, Beihang University, Beijing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, Beihang University, Beijing, P.R. China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103655518","display_name":"Yuanlin Huang","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanlin Huang","raw_affiliation_strings":["Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, P.R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010577284","display_name":"Jianmei Wang","orcid":"https://orcid.org/0000-0003-1694-6848","observed_orcids":["https://orcid.org/0000-0003-1694-6848"]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmei Wang","raw_affiliation_strings":["Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, P.R. China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ken Chen","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ken Chen","raw_affiliation_strings":["Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, P.R. China. kenchen@mail.tsinghua.edu.cn"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Department of Precise Instruments and Mechanology, Tsinghua University, Beijing, P.R. China. kenchen@mail.tsinghua.edu.cn","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.3459,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77404745,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"342","last_page":"347"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0,"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":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-crossing","display_name":"obstacle crossing","score":0.8289999961853027},{"id":"https://openalex.org/keywords/stability-margin","display_name":"stability margin","score":0.8460000157356262},{"id":"https://openalex.org/keywords/multi-objective-optimization","display_name":"multi-objective optimization","score":0.8920000195503235},{"id":"https://openalex.org/keywords/optimal-design","display_name":"optimal design","score":0.6949999928474426},{"id":"https://openalex.org/keywords/walking-performance","display_name":"walking performance","score":0.5619999766349792}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.830720067024231},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7068963646888733},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6885702610015869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6593104600906372},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.643714964389801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6237227320671082},{"id":"https://openalex.org/C2778370241","wikidata":"https://www.wikidata.org/wiki/Q18386598","display_name":"Parametric design","level":3,"score":0.5082675814628601},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5045582056045532},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5023350715637207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.339318186044693},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3301486372947693},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24799278378486633},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21347308158874512},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.05994307994842529},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.05227985978126526},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2006.281634","doi":"https://doi.org/10.1109/iros.2006.281634","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2006.281634","pdf_url":null,"source":{"id":"https://openalex.org/S4393918188","display_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":"2153-0858","issn":["2153-0858"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":["jufo-1","norway-1"],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2006 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1639534865","https://openalex.org/W1969168411","https://openalex.org/W1995551113","https://openalex.org/W2049080811","https://openalex.org/W2074686910","https://openalex.org/W2107063340","https://openalex.org/W2124431379","https://openalex.org/W2128131727","https://openalex.org/W2153918861","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W2107063340","https://openalex.org/W192883320","https://openalex.org/W144649418","https://openalex.org/W1835743515","https://openalex.org/W2080688579","https://openalex.org/W2648234648","https://openalex.org/W2095738542","https://openalex.org/W2144101144","https://openalex.org/W2288923680","https://openalex.org/W2104274639"],"abstract_inverted_index":{"This":[0,89],"paper":[1,114],"addresses":[2],"parametric":[3],"walking":[4,16,53],"patterns":[5],"and":[6,23,33,52,59,65],"optimum":[7,76,95,100,106,119],"design":[8,77],"issues":[9],"for":[10],"an":[11,99],"underactuated":[12],"biped":[13],"robot.":[14],"The":[15,75],"pattern":[17],"is":[18,82],"curved":[19],"by":[20,30,71,85],"impact":[21],"postures":[22,27,35],"middle":[24,34],"postures.":[25],"Impact":[26],"are":[28,36,57,69],"regulated":[29],"two":[31,67],"parameters":[32,68],"selected":[37],"to":[38,43,123],"adapt":[39],"the":[40,60,66,72,118],"swing":[41],"foot":[42],"negotiate":[44],"obstacles.":[45],"To":[46],"evaluate":[47],"constraint":[48],"conditions,":[49],"stability":[50],"margins,":[51],"performances,":[54],"some":[55],"indices":[56,64],"defined,":[58],"correlations":[61],"between":[62],"these":[63,87,109],"illustrated":[70],"corresponding":[73],"atlases.":[74,88],"method":[78,90],"which":[79,102],"considers":[80],"multi-criteria":[81],"carried":[83],"out":[84],"using":[86],"provides":[91],"not":[92],"only":[93],"one":[94,115],"result,":[96],"but":[97],"also":[98],"region":[101],"contains":[103],"all":[104],"feasible":[105],"results.":[107],"Using":[108],"atlases":[110],"presented":[111],"in":[112],"this":[113],"can":[116],"obtain":[117],"result":[120],"with":[121],"respect":[122],"any":[124],"object(s)":[125]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2016-06-24T00:00:00"}