{"id":"https://openalex.org/W4387652982","doi":"https://doi.org/10.1007/978-981-99-6492-5_23","title":"Omnidirectional Walking Realization of\u00a0a\u00a0Biped Robot","display_name":"Omnidirectional Walking Realization of\u00a0a\u00a0Biped Robot","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4387652982","doi":"https://doi.org/10.1007/978-981-99-6492-5_23"},"language":"en","primary_location":{"id":"doi:10.1007/978-981-99-6492-5_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-99-6492-5_23","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/A5018991328","display_name":"Jingge Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jingge Tang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101872041","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-4048-6565"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101602023","display_name":"Chao Liang","orcid":"https://orcid.org/0000-0002-1965-1685"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chao Liang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101803701","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0002-3485-3525"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073442659","display_name":"Yun Liu","orcid":"https://orcid.org/0000-0002-4598-8388"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Liu","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061462081","display_name":"Jiawei Weng","orcid":"https://orcid.org/0000-0002-6553-6127"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Weng","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100544276","display_name":"Wang Fan","orcid":"https://orcid.org/0000-0002-1290-1688"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Wang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015176494","display_name":"Dingkun Liang","orcid":"https://orcid.org/0009-0005-6002-1211"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dingkun Liang","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032102869","display_name":"Anhuan Xie","orcid":"https://orcid.org/0000-0002-8348-0067"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anhuan Xie","raw_affiliation_strings":["Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100562972","display_name":"Jianjun Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]},{"id":"https://openalex.org/I129902397","display_name":"Dalhousie University","ror":"https://ror.org/01e6qks80","country_code":"CA","type":"education","lineage":["https://openalex.org/I129902397"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Jianjun Gu","raw_affiliation_strings":["Department of Electrical Engineering, Dalhousie University, Halifax, NS, B3H 4R2, Canada","Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Dalhousie University, Halifax, NS, B3H 4R2, Canada","institution_ids":["https://openalex.org/I129902397"]},{"raw_affiliation_string":"Research Center for Intelligent Robotics, Research Institute of Interdisciplinary Innovation, Zhejiang Lab, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Zhejiang Engineering Research Center for Intelligent Robotics, Hangzhou, 311100, China","institution_ids":["https://openalex.org/I4210123185"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5018991328"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.44519621,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"258","last_page":"269"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9922000169754028,"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":0.9372000098228455,"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/computer-science","display_name":"Computer science","score":0.7407919764518738},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6972370147705078},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6419433355331421},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6211823225021362},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5943710207939148},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5615219473838806},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.5558772087097168},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5447966456413269},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5444326400756836},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5411376953125},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5314643979072571},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46505579352378845},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44773808121681213},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3766040802001953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2866520583629608},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06270802021026611},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.06117364764213562}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7407919764518738},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6972370147705078},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6419433355331421},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6211823225021362},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5943710207939148},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5615219473838806},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.5558772087097168},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5447966456413269},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5444326400756836},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5411376953125},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5314643979072571},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46505579352378845},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44773808121681213},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3766040802001953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2866520583629608},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06270802021026611},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.06117364764213562},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-981-99-6492-5_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-99-6492-5_23","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1980065440","https://openalex.org/W1987749388","https://openalex.org/W1988274707","https://openalex.org/W2016102421","https://openalex.org/W2016468033","https://openalex.org/W2035722033","https://openalex.org/W2086234597","https://openalex.org/W2118840382","https://openalex.org/W2120693140","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2539534359","https://openalex.org/W2561867167","https://openalex.org/W2857777774","https://openalex.org/W2913971027","https://openalex.org/W2967793392","https://openalex.org/W2968774764","https://openalex.org/W4243656494","https://openalex.org/W4249010688","https://openalex.org/W4285023675"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2190226114","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W2607470227","https://openalex.org/W2351331567"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}