{"id":"https://openalex.org/W2406843883","doi":"https://doi.org/10.1017/s0263574716000308","title":"Increase the feasible step region of biped robots through active vertical flexion and extension motions","display_name":"Increase the feasible step region of biped robots through active vertical flexion and extension motions","publication_year":2016,"publication_date":"2016-05-20","ids":{"openalex":"https://openalex.org/W2406843883","doi":"https://doi.org/10.1017/s0263574716000308","mag":"2406843883"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574716000308","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574716000308","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/A5010846765","display_name":"Wei Gao","orcid":"https://orcid.org/0000-0003-2257-5684"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Gao","raw_affiliation_strings":["School of Aerospace, Tsinghua University, Beijing, 100084, P. R. China. E-mail:","Tsinghua University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, 100084, P. R. China. E-mail:","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"Tsinghua University","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075727192","display_name":"Zhenzhong Jia","orcid":"https://orcid.org/0000-0001-5924-5502"},"institutions":[{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"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":"Zhenzhong Jia","raw_affiliation_strings":["The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA. E-mail:","The Robotics Institute"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA. E-mail:","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"The Robotics Institute","institution_ids":["https://openalex.org/I4210116723"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024107992","display_name":"Chenglong Fu","orcid":"https://orcid.org/0000-0002-8955-5429"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenglong Fu","raw_affiliation_strings":["Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, P. R. China","State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Key Laboratory of Precision/Ultra-precision Manufacturing Equipments and Control, Tsinghua University, Beijing, 100084, P. R. China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Tribology, Tsinghua University, Beijing, 100084, P. R. China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5024107992"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.6999,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.71407836,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"35","issue":"7","first_page":"1541","last_page":"1561"},"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":0.9797000288963318,"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":0.972599983215332,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8001360893249512},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6986094117164612},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6733508706092834},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6538363099098206},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6223748326301575},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5983564257621765},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5866759419441223},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.5173735022544861},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.4890216290950775},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40420010685920715},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19329291582107544},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19066455960273743},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1785581409931183},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10152605175971985},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08003741502761841}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8001360893249512},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6986094117164612},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6733508706092834},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6538363099098206},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6223748326301575},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5983564257621765},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5866759419441223},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.5173735022544861},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.4890216290950775},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40420010685920715},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19329291582107544},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19066455960273743},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1785581409931183},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10152605175971985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08003741502761841},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574716000308","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574716000308","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322392","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549"},{"id":"https://openalex.org/F4320330357","display_name":"Tsinghua Initiative Scientific Research Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1970054848","https://openalex.org/W1986838953","https://openalex.org/W1990047283","https://openalex.org/W2013207866","https://openalex.org/W2036484113","https://openalex.org/W2047887370","https://openalex.org/W2070839171","https://openalex.org/W2071151816","https://openalex.org/W2079995373","https://openalex.org/W2146244969","https://openalex.org/W2149458524","https://openalex.org/W2150186619","https://openalex.org/W2151182239","https://openalex.org/W2162109810","https://openalex.org/W2168132715","https://openalex.org/W2539534359"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2133801610","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"investigates":[3],"the":[4,15,26,33,47,59,67,71,92,108,137,143,148],"active":[5,48,82],"vertical":[6,49],"motion":[7],"of":[8,17,28,107,150],"biped":[9,18,76],"systems":[10],"and":[11,70,84,142],"its":[12],"significance":[13],"to":[14,74,78,96],"balance":[16,80],"robots,":[19],"which":[20],"have":[21,124],"been":[22,126],"commonly":[23],"neglected":[24],"by":[25,45],"use":[27],"a":[29,52,129],"well-known":[30],"model":[31,112,141,146],"called":[32],"Linear":[34],"Inverted":[35],"Pendulum":[36],"Model.":[37],"The":[38,87],"feasible":[39],"step":[40],"location":[41],"is":[42,94],"theoretically":[43],"estimated":[44],"considering":[46],"movement":[50],"on":[51,58,128,135],"simple":[53,109,138],"point":[54,110,139],"mass":[55,111,140],"model.":[56],"Based":[57],"estimation,":[60],"we":[61],"present":[62],"two":[63],"new":[64],"strategies,":[65],"namely":[66],"flexion":[68],"strategy":[69],"extension":[72],"strategy,":[73],"enable":[75],"robots":[77],"restore":[79],"through":[81],"upward":[83],"downward":[85],"motions.":[86],"analytical":[88],"results":[89],"demonstrate":[90],"that":[91,119],"robot":[93],"able":[95],"recover":[97],"from":[98],"much":[99],"larger":[100],"disturbances":[101],"using":[102],"our":[103,114,121],"proposed":[104,122,151],"methods.":[105],"Simulations":[106],"validate":[113],"analysis.":[115],"Besides,":[116],"prototype":[117],"controllers":[118],"incorporate":[120],"strategies":[123],"also":[125],"implemented":[127],"simulated":[130],"humanoid":[131,145],"robot.":[132],"Numerical":[133],"simulations":[134],"both":[136],"realistic":[144],"prove":[147],"effectiveness":[149],"strategies.":[152]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}