{"id":"https://openalex.org/W1970649149","doi":"https://doi.org/10.1017/s0263574704000591","title":"Compensatory motion control for a biped walking robot","display_name":"Compensatory motion control for a biped walking robot","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W1970649149","doi":"https://doi.org/10.1017/s0263574704000591","mag":"1970649149"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704000591","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000591","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5085412119","display_name":"Hun\u2010ok Lim","orcid":"https://orcid.org/0009-0001-9116-8663"},"institutions":[{"id":"https://openalex.org/I182069643","display_name":"Kanagawa Institute of Technology","ror":"https://ror.org/007gj5v75","country_code":"JP","type":"education","lineage":["https://openalex.org/I182069643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hun-ok Lim","raw_affiliation_strings":["Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimoogino, Atsugi, Kanagawa, 243-0293 Japan, Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku, Tokyo, 169-8555 Japan, E-mail:","Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimoogino, Atsugi, Kanagawa, 243-0293 Japan, Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku ...#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimoogino, Atsugi, Kanagawa, 243-0293 Japan, Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku, Tokyo, 169-8555 Japan, E-mail:","institution_ids":["https://openalex.org/I182069643"]},{"raw_affiliation_string":"Department of System Design Engineering, Kanagawa Institute of Technology, 1030 Shimoogino, Atsugi, Kanagawa, 243-0293 Japan, Humanoid Robotics Institute, Waseda University, 3-4-1 Ookubo, Shinjuku ...#TAB#","institution_ids":["https://openalex.org/I182069643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"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"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Humanoid Robotics Institute, Waseda University, Tokyo/Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Humanoid Robotics Institute, Waseda University, Tokyo/Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085412119"],"corresponding_institution_ids":["https://openalex.org/I182069643"],"apc_list":null,"apc_paid":null,"fwci":2.9102,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.89423509,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"23","issue":"1","first_page":"1","last_page":"11"},"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":0.9937999844551086,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.982699990272522,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/zero-moment-point","display_name":"Zero moment point","score":0.658187985420227},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6511704921722412},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6065594553947449},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.5743637681007385},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5355968475341797},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5045615434646606},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.5013535022735596},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.486946702003479},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.46409764885902405},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45720773935317993},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.42551058530807495},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.416969358921051},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.41475996375083923},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4141031503677368},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41273242235183716},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29564979672431946},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24552041292190552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23021087050437927},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22659039497375488},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.15547436475753784},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11653530597686768},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1046985387802124}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.658187985420227},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6511704921722412},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6065594553947449},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.5743637681007385},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5355968475341797},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5045615434646606},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.5013535022735596},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.486946702003479},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.46409764885902405},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45720773935317993},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.42551058530807495},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.416969358921051},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.41475996375083923},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4141031503677368},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41273242235183716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29564979672431946},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24552041292190552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23021087050437927},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22659039497375488},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.15547436475753784},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11653530597686768},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1046985387802124},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574704000591","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000591","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324230","display_name":"Toray Industries","ror":"https://ror.org/029xh1r47"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W2000680346","https://openalex.org/W2002804012","https://openalex.org/W2070038508","https://openalex.org/W2086756762","https://openalex.org/W2126112236","https://openalex.org/W2128967980","https://openalex.org/W2142716857","https://openalex.org/W2142992961","https://openalex.org/W2145944877","https://openalex.org/W2161427949","https://openalex.org/W2332920146"],"related_works":["https://openalex.org/W2049247410","https://openalex.org/W1486724195","https://openalex.org/W2318265355","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W3013558530","https://openalex.org/W2466961802","https://openalex.org/W2097568396","https://openalex.org/W2321957747","https://openalex.org/W2125512158"],"abstract_inverted_index":{"This":[0,23],"paper":[1],"addresses":[2],"a":[3,9,34,52,65,117,148],"compensatory":[4],"motion":[5,86,96],"control":[6,24,54,150,171],"algorithm":[7,25,45],"of":[8,27,33,75,88,97,125,128,141,169],"biped":[10],"robot":[11],"to":[12,37,46,55,82,138],"deal":[13],"with":[14],"stable":[15],"dynamic":[16,57],"walking":[17,118,134,153],"on":[18,105,157],"even":[19],"or":[20],"uneven":[21,159],"terrain.":[22],"consists":[26],"three":[28],"main":[29],"parts;":[30],"the":[31,48,69,73,78,84,91,95,98,101,106,126,139,167,170],"introduction":[32],"virtual":[35,60,107],"plane":[36,61,66,108],"consider":[38],"ZMP":[39,103],"(Zero":[40],"Moment":[41],"Point);":[42],"an":[43,113,158],"iteration":[44,114],"compute":[47],"trunk":[49,85],"motion;":[50],"and":[51,77,131,155,164],"program":[53,149],"realize":[56],"walking.":[58],"The":[59,133],"is":[62,109,120,123,136,173],"defined":[63],"as":[64,162],"formed":[67],"by":[68,94,111],"support":[70],"points":[71],"between":[72],"surface":[74],"terrain":[76],"soles.":[79],"In":[80],"order":[81],"obtain":[83],"capable":[87],"compensating":[89],"for":[90],"moments":[92],"produced":[93],"lower-limbs":[99],"during":[100],"walking,":[102],"equation":[104],"computed":[110],"using":[112,147],"method.":[115,151],"Also,":[116],"pattern":[119,135],"presented":[121],"which":[122],"composed":[124],"trajectories":[127],"lower-limbs,":[129],"waist":[130],"trunk.":[132],"commanded":[137],"joints":[140],"WL-12RIII":[142],"(Waseda":[143],"Leg-Twelve":[144],"Refined":[145],"Three)":[146],"Through":[152],"simulations":[154],"experiments":[156],"terrain,":[160,166],"such":[161],"stairs":[163],"sloped":[165],"effectiveness":[168],"method":[172],"verified.":[174]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
