{"id":"https://openalex.org/W270935515","doi":"https://doi.org/10.1007/978-3-319-12027-0_39","title":"Omnidirectional Walking with a Compliant Inverted Pendulum Model","display_name":"Omnidirectional Walking with a Compliant Inverted Pendulum Model","publication_year":2014,"publication_date":"2014-01-01","ids":{"openalex":"https://openalex.org/W270935515","doi":"https://doi.org/10.1007/978-3-319-12027-0_39","mag":"270935515"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-12027-0_39","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-12027-0_39","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"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/A5007133617","display_name":"Abbas Abdolmaleki","orcid":"https://orcid.org/0000-0001-6692-5856"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]},{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"Abbas Abdolmaleki","raw_affiliation_strings":["Departamento de Sistemas de Informa\u00e7\u00e3o, Escola de Engenharia da Universidade do Minho, Braga, Portugal","Instituto de Engenharia Eletr\u00f3nica e Telem\u00e1tica de Aveiro, Universidade de Aveiro, Aveiro, Portugal","Laborat\u00f3rio de Intelig\u00eancia Artificial e Ci\u00eancia de Computadores, Universidade do Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas de Informa\u00e7\u00e3o, Escola de Engenharia da Universidade do Minho, Braga, Portugal","institution_ids":["https://openalex.org/I99682543"]},{"raw_affiliation_string":"Instituto de Engenharia Eletr\u00f3nica e Telem\u00e1tica de Aveiro, Universidade de Aveiro, Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]},{"raw_affiliation_string":"Laborat\u00f3rio de Intelig\u00eancia Artificial e Ci\u00eancia de Computadores, Universidade do Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066182910","display_name":"Nima Shafii","orcid":"https://orcid.org/0000-0002-9102-8863"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nima Shafii","raw_affiliation_strings":["Instituto de Engenharia Eletr\u00f3nica e Telem\u00e1tica de Aveiro, Universidade de Aveiro, Aveiro, Portugal","Laborat\u00f3rio de Intelig\u00eancia Artificial e Ci\u00eancia de Computadores, Universidade do Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Engenharia Eletr\u00f3nica e Telem\u00e1tica de Aveiro, Universidade de Aveiro, Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]},{"raw_affiliation_string":"Laborat\u00f3rio de Intelig\u00eancia Artificial e Ci\u00eancia de Computadores, Universidade do Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089812166","display_name":"Lu\u00eds Paulo Reis","orcid":"https://orcid.org/0000-0002-4709-1718"},"institutions":[{"id":"https://openalex.org/I182534213","display_name":"Universidade do Porto","ror":"https://ror.org/043pwc612","country_code":"PT","type":"education","lineage":["https://openalex.org/I182534213"]},{"id":"https://openalex.org/I99682543","display_name":"University of Minho","ror":"https://ror.org/037wpkx04","country_code":"PT","type":"education","lineage":["https://openalex.org/I99682543"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Luis Paulo Reis","raw_affiliation_strings":["Departamento de Sistemas de Informa\u00e7\u00e3o, Escola de Engenharia da Universidade do Minho, Braga, Portugal","Laborat\u00f3rio de Intelig\u00eancia Artificial e Ci\u00eancia de Computadores, Universidade do Porto, Porto, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Sistemas de Informa\u00e7\u00e3o, Escola de Engenharia da Universidade do Minho, Braga, Portugal","institution_ids":["https://openalex.org/I99682543"]},{"raw_affiliation_string":"Laborat\u00f3rio de Intelig\u00eancia Artificial e Ci\u00eancia de Computadores, Universidade do Porto, Porto, Portugal","institution_ids":["https://openalex.org/I182534213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055569781","display_name":"Nuno Lau","orcid":"https://orcid.org/0000-0003-0513-158X"},"institutions":[{"id":"https://openalex.org/I60858718","display_name":"University of Aveiro","ror":"https://ror.org/00nt41z93","country_code":"PT","type":"education","lineage":["https://openalex.org/I60858718"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Lau","raw_affiliation_strings":["Instituto de Engenharia Eletr\u00f3nica e Telem\u00e1tica de Aveiro, Universidade de Aveiro, Aveiro, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Engenharia Eletr\u00f3nica e Telem\u00e1tica de Aveiro, Universidade de Aveiro, Aveiro, Portugal","institution_ids":["https://openalex.org/I60858718"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110467801","display_name":"Gerhard Neumann","orcid":"https://orcid.org/0000-0002-5483-4225"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gerhard Neumann","raw_affiliation_strings":["Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Autonomous Systems, TU Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5007133617"],"corresponding_institution_ids":["https://openalex.org/I182534213","https://openalex.org/I60858718","https://openalex.org/I99682543"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"481","last_page":"493"},"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/T11230","display_name":"Innovative Energy Harvesting Technologies","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9696000218391418,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.7324957847595215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.720202624797821},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.648308277130127},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6226181983947754},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6056036353111267},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.539101243019104},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5260357856750488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5143252611160278},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.48070794343948364},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.41367307305336},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39985033869743347},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.33243250846862793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21035367250442505},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.14429384469985962},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11887320876121521},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0834667980670929}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7324957847595215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.720202624797821},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.648308277130127},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6226181983947754},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6056036353111267},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.539101243019104},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5260357856750488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5143252611160278},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.48070794343948364},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.41367307305336},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39985033869743347},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.33243250846862793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21035367250442505},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.14429384469985962},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11887320876121521},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0834667980670929},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-319-12027-0_39","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-12027-0_39","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W272156208","https://openalex.org/W1545656448","https://openalex.org/W1778214895","https://openalex.org/W1812037278","https://openalex.org/W1929309940","https://openalex.org/W2063397089","https://openalex.org/W2071307076","https://openalex.org/W2080826208","https://openalex.org/W2112361218","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2991542025","https://openalex.org/W3148436547","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W2034988786","https://openalex.org/W2220923292"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
