{"id":"https://openalex.org/W4311426411","doi":"https://doi.org/10.1007/s11432-021-3450-5","title":"Trajectory-free dynamic locomotion using key trend states for biped robots with point feet","display_name":"Trajectory-free dynamic locomotion using key trend states for biped robots with point feet","publication_year":2022,"publication_date":"2022-12-07","ids":{"openalex":"https://openalex.org/W4311426411","doi":"https://doi.org/10.1007/s11432-021-3450-5"},"language":"en","primary_location":{"id":"doi:10.1007/s11432-021-3450-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11432-021-3450-5","pdf_url":null,"source":{"id":"https://openalex.org/S4210218743","display_name":"Science China Information Sciences","issn_l":"1674-733X","issn":["1674-733X","1869-1919"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science China Information Sciences","raw_type":"journal-article"},"type":"article","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/A5009953299","display_name":"Lianqiang Han","orcid":"https://orcid.org/0000-0001-6992-2343"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianqiang Han","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038399645","display_name":"Xishuo Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210165649","display_name":"China Coal Research Institute (China)","ror":"https://ror.org/05dy2c135","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210165649"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xishuo Zhu","raw_affiliation_strings":["Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd., Beijing, 100013, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Mine Research Institute, China Coal Research Institute Co., Ltd., Beijing, 100013, China","institution_ids":["https://openalex.org/I4210165649"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Kanagawa, 214-8571, Japan","Humanoid Robotics Institute (HRI), Waseda University, Tokyo, 162-8480, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering Informatics, Meiji University, Tokyo, Kanagawa, 214-8571, Japan","institution_ids":["https://openalex.org/I16656306"]},{"raw_affiliation_string":"Humanoid Robotics Institute (HRI), Waseda University, Tokyo, 162-8480, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028551930","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0002-7111-8597"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China","School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing, 100081, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5050003106","https://openalex.org/A5083887889"],"corresponding_institution_ids":["https://openalex.org/I125839683","https://openalex.org/I1327237609"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":1.0556,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.75884161,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"66","issue":"8","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8120133876800537},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6905230283737183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6600275039672852},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5969382524490356},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.592615008354187},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5579944252967834},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5228110551834106},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4939647316932678},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.48496317863464355},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.43655166029930115},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.43347036838531494},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.41851285099983215},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4180489778518677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39706388115882874},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3764955401420593},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3759234845638275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24974143505096436},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22754812240600586},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.18288496136665344},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12522754073143005}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8120133876800537},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6905230283737183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6600275039672852},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5969382524490356},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.592615008354187},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5579944252967834},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5228110551834106},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4939647316932678},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.48496317863464355},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.43655166029930115},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.43347036838531494},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.41851285099983215},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4180489778518677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39706388115882874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3764955401420593},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3759234845638275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24974143505096436},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22754812240600586},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.18288496136665344},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12522754073143005},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s11432-021-3450-5","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s11432-021-3450-5","pdf_url":null,"source":{"id":"https://openalex.org/S4210218743","display_name":"Science China Information Sciences","issn_l":"1674-733X","issn":["1674-733X","1869-1919"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Science China Information Sciences","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7616071765","display_name":"Human Balance Control and Understanding of Aerial Sense by Humanoid Robots","funder_award_id":"20H04267","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W2970075639","https://openalex.org/W3029559956","https://openalex.org/W3176520080","https://openalex.org/W3205843978","https://openalex.org/W4205985701"],"related_works":["https://openalex.org/W2363225614","https://openalex.org/W2131037267","https://openalex.org/W2358580561","https://openalex.org/W781058189","https://openalex.org/W2090655727","https://openalex.org/W2253287589","https://openalex.org/W2317947966","https://openalex.org/W2150864167","https://openalex.org/W2331913571","https://openalex.org/W2744891159"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}