{"id":"https://openalex.org/W2765656811","doi":"https://doi.org/10.1007/978-3-319-68792-6_5","title":"Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model","display_name":"Boundedness Approach to Gait Planning for the Flexible Linear Inverted Pendulum Model","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2765656811","doi":"https://doi.org/10.1007/978-3-319-68792-6_5","mag":"2765656811"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-68792-6_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-68792-6_5","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":"book-chapter","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/A5053599061","display_name":"Leonardo Lanari","orcid":"https://orcid.org/0000-0002-8546-1783"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Leonardo Lanari","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Rome, Italy"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Automatica e Gestionale, Sapienza Universit\u00e0 di Roma, Rome, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044534853","display_name":"Oliver Urbann","orcid":"https://orcid.org/0000-0001-8596-9133"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Oliver Urbann","raw_affiliation_strings":["Robotics Research Institute, TU Dortmund University, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Research Institute, TU Dortmund University, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071296935","display_name":"Seth Hutchinson","orcid":"https://orcid.org/0000-0002-3949-6061"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seth Hutchinson","raw_affiliation_strings":["Electrical and Computer Engineering, University of Illinois, Champaign, IL, USA"],"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, University of Illinois, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052851502","display_name":"Ingmar Schwarz","orcid":null},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ingmar Schwarz","raw_affiliation_strings":["Robotics Research Institute, TU Dortmund University, Dortmund, Germany"],"affiliations":[{"raw_affiliation_string":"Robotics Research Institute, TU Dortmund University, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053599061"],"corresponding_institution_ids":["https://openalex.org/I861853513"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":0.6849,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.68122786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"58","last_page":"70"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9962000250816345,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.877453088760376},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7627187967300415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7089648246765137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6125509738922119},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5776680111885071},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5531229376792908},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5285995006561279},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5266768336296082},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.4762837290763855},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4598660469055176},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.299519419670105},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2687031626701355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.255342960357666},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24977916479110718},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18250006437301636},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.15306270122528076},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07848381996154785},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.06816089153289795}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.877453088760376},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7627187967300415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7089648246765137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6125509738922119},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5776680111885071},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5531229376792908},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5285995006561279},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5266768336296082},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.4762837290763855},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4598660469055176},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.299519419670105},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2687031626701355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.255342960357666},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24977916479110718},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18250006437301636},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.15306270122528076},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07848381996154785},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.06816089153289795},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/978-3-319-68792-6_5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-68792-6_5","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"},{"id":"pmh:oai:iris.uniroma1.it:11573/870932","is_oa":false,"landing_page_url":"http://hdl.handle.net/11573/870932","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W107475751","https://openalex.org/W113666606","https://openalex.org/W1577561560","https://openalex.org/W1986621758","https://openalex.org/W2017303463","https://openalex.org/W2018882790","https://openalex.org/W2037686067","https://openalex.org/W2066462287","https://openalex.org/W2068935277","https://openalex.org/W2094429957","https://openalex.org/W2099129715","https://openalex.org/W2116310395","https://openalex.org/W2126729486","https://openalex.org/W2129754669","https://openalex.org/W2133859362","https://openalex.org/W2142132924","https://openalex.org/W2198356383","https://openalex.org/W2202353689","https://openalex.org/W2217761195","https://openalex.org/W2539534359","https://openalex.org/W2539977475","https://openalex.org/W4249010688"],"related_works":["https://openalex.org/W2138228021","https://openalex.org/W962423920","https://openalex.org/W2259616189","https://openalex.org/W2387968248","https://openalex.org/W2373921823","https://openalex.org/W2120821724","https://openalex.org/W2129754669","https://openalex.org/W2560160706","https://openalex.org/W2600116237","https://openalex.org/W4313056043"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}