{"id":"https://openalex.org/W2101379919","doi":"https://doi.org/10.1017/s0263574712000203","title":"Biped walking control using a trajectory library","display_name":"Biped walking control using a trajectory library","publication_year":2012,"publication_date":"2012-05-25","ids":{"openalex":"https://openalex.org/W2101379919","doi":"https://doi.org/10.1017/s0263574712000203","mag":"2101379919"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574712000203","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000203","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/A5024860838","display_name":"Chenggang Liu","orcid":"https://orcid.org/0000-0002-4366-1429"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenggang Liu","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China","Department of Automation,  Shanghai Jiao Tong University,  Shanghai 200240,  China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation,  Shanghai Jiao Tong University,  Shanghai 200240,  China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055330939","display_name":"Christopher G. Atkeson","orcid":"https://orcid.org/0000-0003-4265-8452"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher G. Atkeson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213","Robotics institute, carnegie mellon university, pittsburgh, pa 15213, usacga@cmu.edu#TAB#"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics institute, carnegie mellon university, pittsburgh, pa 15213, usacga@cmu.edu#TAB#","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084573070","display_name":"Jianbo Su","orcid":"https://orcid.org/0000-0001-6931-5842"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbo Su","raw_affiliation_strings":["Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China","Department of Automation,  Shanghai Jiao Tong University,  Shanghai 200240,  China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation,  Shanghai Jiao Tong University,  Shanghai 200240,  China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024860838"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.2102,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.79121793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"31","issue":"2","first_page":"311","last_page":"322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9865999817848206,"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":0.9832000136375427,"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/trajectory","display_name":"Trajectory","score":0.8408525586128235},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.7481039762496948},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.745699942111969},{"id":"https://openalex.org/keywords/differential-dynamic-programming","display_name":"Differential dynamic programming","score":0.6467920541763306},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.6232738494873047},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6120617389678955},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919038653373718},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5288347601890564},{"id":"https://openalex.org/keywords/dynamic-programming","display_name":"Dynamic programming","score":0.47200867533683777},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4411124289035797},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.4359416365623474},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36594051122665405},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2281150221824646},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2258995771408081},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20361179113388062},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1178446114063263},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.07906574010848999}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8408525586128235},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.7481039762496948},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.745699942111969},{"id":"https://openalex.org/C92292787","wikidata":"https://www.wikidata.org/wiki/Q5275342","display_name":"Differential dynamic programming","level":3,"score":0.6467920541763306},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.6232738494873047},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6120617389678955},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919038653373718},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5288347601890564},{"id":"https://openalex.org/C37404715","wikidata":"https://www.wikidata.org/wiki/Q380679","display_name":"Dynamic programming","level":2,"score":0.47200867533683777},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4411124289035797},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.4359416365623474},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36594051122665405},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2281150221824646},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2258995771408081},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20361179113388062},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1178446114063263},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.07906574010848999},{"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574712000203","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574712000203","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":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":71,"referenced_works":["https://openalex.org/W98935309","https://openalex.org/W1519423462","https://openalex.org/W1556926170","https://openalex.org/W1966126529","https://openalex.org/W1985249384","https://openalex.org/W1995551113","https://openalex.org/W1997283008","https://openalex.org/W2001981441","https://openalex.org/W2002971752","https://openalex.org/W2004117707","https://openalex.org/W2022144657","https://openalex.org/W2025752438","https://openalex.org/W2027247754","https://openalex.org/W2034637124","https://openalex.org/W2039091159","https://openalex.org/W2042204128","https://openalex.org/W2057756946","https://openalex.org/W2061914803","https://openalex.org/W2075167234","https://openalex.org/W2075644492","https://openalex.org/W2080132051","https://openalex.org/W2102884619","https://openalex.org/W2105038027","https://openalex.org/W2107063340","https://openalex.org/W2108631580","https://openalex.org/W2109944946","https://openalex.org/W2111999018","https://openalex.org/W2119793378","https://openalex.org/W2120526103","https://openalex.org/W2123477693","https://openalex.org/W2124431379","https://openalex.org/W2127027287","https://openalex.org/W2127908581","https://openalex.org/W2128259081","https://openalex.org/W2128990851","https://openalex.org/W2130094217","https://openalex.org/W2133859362","https://openalex.org/W2137547873","https://openalex.org/W2138136244","https://openalex.org/W2138839127","https://openalex.org/W2142992961","https://openalex.org/W2143564263","https://openalex.org/W2153195058","https://openalex.org/W2153219011","https://openalex.org/W2153314056","https://openalex.org/W2153321276","https://openalex.org/W2153425320","https://openalex.org/W2153918861","https://openalex.org/W2154574243","https://openalex.org/W2156632349","https://openalex.org/W2158194084","https://openalex.org/W2160561608","https://openalex.org/W2169738905","https://openalex.org/W2244269373","https://openalex.org/W2294316001","https://openalex.org/W2296356821","https://openalex.org/W2341171179","https://openalex.org/W2346626577","https://openalex.org/W2470235696","https://openalex.org/W2542458831","https://openalex.org/W2798534591","https://openalex.org/W2961703895","https://openalex.org/W3150997492","https://openalex.org/W4249614167","https://openalex.org/W4252510982","https://openalex.org/W4295133295","https://openalex.org/W6676444349","https://openalex.org/W6678444286","https://openalex.org/W6680054696","https://openalex.org/W6680588179","https://openalex.org/W6993157163"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W1932159282","https://openalex.org/W4285537323","https://openalex.org/W4281717838","https://openalex.org/W2378339670","https://openalex.org/W2379312070"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"presents":[3],"biped":[4,103],"walking":[5,14,35,97],"control":[6,15,21,60,70,98],"using":[7,82,95],"a":[8,25,38,48,67,78,100],"library":[9,49],"of":[10,50,57,89,99],"optimal":[11,20,51,59,83],"trajectories.":[12],"Biped":[13],"is":[16,75],"formulated":[17],"as":[18],"an":[19],"problem.":[22],"We":[23],"use":[24,42],"parametric":[26],"trajectory":[27,79],"optimization":[28],"method":[29,92],"to":[30,46,65],"find":[31],"the":[32,58,90],"periodic":[33],"steady-state":[34],"trajectory.":[36],"As":[37],"second":[39],"stage,":[40],"we":[41],"Differential":[43],"Dynamic":[44],"Programming":[45],"generate":[47],"trajectories":[52],"and":[53,87],"locally":[54],"linear":[55],"models":[56],"law,":[61],"which":[62],"are":[63,93],"used":[64],"construct":[66],"more":[68],"global":[69],"law.":[71],"The":[72,85],"proposed":[73,91],"controller":[74,81],"compared":[76],"with":[77],"tracking":[80],"gains.":[84],"utility":[86],"performance":[88],"evaluated":[94],"simulated":[96],"planar":[101],"five-link":[102],"robot.":[104]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
