{"id":"https://openalex.org/W7116896730","doi":"https://doi.org/10.1017/s0263574725103020","title":"Limit cycles generation for energy-efficient bipedal walking via nonlinear model predictive control","display_name":"Limit cycles generation for energy-efficient bipedal walking via nonlinear model predictive control","publication_year":2025,"publication_date":"2025-12-23","ids":{"openalex":"https://openalex.org/W7116896730","doi":"https://doi.org/10.1017/s0263574725103020"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725103020","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725103020","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/A5079068685","display_name":"Yuta Hanazawa","orcid":"https://orcid.org/0000-0002-1161-1101"},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuta Hanazawa","raw_affiliation_strings":["Kyushu Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-1161-1101","affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093782610","display_name":"Yuhi UCHINO","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuhi Uchino","raw_affiliation_strings":["Kyushu Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology","institution_ids":["https://openalex.org/I207014233"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5121024261","display_name":"Shinichi Sagara","orcid":null},"institutions":[{"id":"https://openalex.org/I207014233","display_name":"Kyushu Institute of Technology","ror":"https://ror.org/02278tr80","country_code":"JP","type":"education","lineage":["https://openalex.org/I207014233"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinichi Sagara","raw_affiliation_strings":["Kyushu Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kyushu Institute of Technology","institution_ids":["https://openalex.org/I207014233"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079068685"],"corresponding_institution_ids":["https://openalex.org/I207014233"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.54464121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"44","issue":"1","first_page":"1","last_page":"36"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9909999966621399,"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":0.9909999966621399,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0017999999690800905,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0008999999845400453,"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/control-theory","display_name":"Control theory (sociology)","score":0.8274999856948853},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.784500002861023},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.70660001039505},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6570000052452087},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6565999984741211},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5835999846458435},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4977000057697296},{"id":"https://openalex.org/keywords/nonlinear-model","display_name":"Nonlinear model","score":0.4893999993801117}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8274999856948853},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.784500002861023},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.70660001039505},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6570000052452087},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6565999984741211},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5835999846458435},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5785999894142151},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.4893999993801117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45579999685287476},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41780000925064087},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3950999975204468},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.3840000033378601},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.359499990940094},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.34220001101493835},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3160000145435333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2660999894142151},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.25099998712539673},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.2500999867916107}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725103020","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725103020","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":0.9083178639411926,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1504362584","https://openalex.org/W1995423815","https://openalex.org/W1999502602","https://openalex.org/W2017301161","https://openalex.org/W2029058516","https://openalex.org/W2079995373","https://openalex.org/W2100440042","https://openalex.org/W2123719714","https://openalex.org/W2125008639","https://openalex.org/W2128131727","https://openalex.org/W2133859362","https://openalex.org/W2137547873","https://openalex.org/W2157055752","https://openalex.org/W2163668399","https://openalex.org/W2413990562","https://openalex.org/W2415959992","https://openalex.org/W2539534359","https://openalex.org/W2970053571","https://openalex.org/W2972798201","https://openalex.org/W3003197130","https://openalex.org/W3202243720","https://openalex.org/W3203458633","https://openalex.org/W3204535492","https://openalex.org/W3205282600","https://openalex.org/W3206804182","https://openalex.org/W4220768825","https://openalex.org/W4243656494","https://openalex.org/W4280638670","https://openalex.org/W4297238282","https://openalex.org/W4309192833","https://openalex.org/W4320920759","https://openalex.org/W4366189221","https://openalex.org/W4388704985","https://openalex.org/W4399581063","https://openalex.org/W4401414833","https://openalex.org/W4403741606","https://openalex.org/W4405785225","https://openalex.org/W4405785325"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"This":[1,78],"paper":[2],"proposes":[3,85],"an":[4],"energy-efficient":[5,75,110],"walking":[6,22,76,91,111],"generation":[7],"method":[8,88,107],"utilizing":[9],"limit":[10,20,68],"cycles":[11,69],"generated":[12,70],"by":[13,71],"nonlinear":[14],"model":[15],"predictive":[16],"control":[17,49],"(NMPC).":[18],"Conventional":[19],"cycle":[21],"methods":[23],"rely":[24],"on":[25],"strong":[26],"feedback,":[27],"such":[28],"as":[29],"output":[30],"zeroing":[31],"control,":[32],"to":[33,116],"attract":[34],"the":[35,53,105],"robot\u2019s":[36,54],"state":[37],"toward":[38],"a":[39,86,93],"predefined":[40],"periodic":[41,117],"trajectory.":[42],"However,":[43],"we":[44,102],"hypothesize":[45],"that":[46,50,66,104],"employing":[47],"feedback":[48],"better":[51],"leverages":[52],"dynamics":[55],"can":[56,73],"improve":[57],"energy":[58],"efficiency":[59],"during":[60],"walking.":[61],"Our":[62],"previous":[63],"work":[64],"confirmed":[65],"using":[67],"NMPC":[72],"produce":[74],"patterns.":[77],"study":[79],"builds":[80],"upon":[81],"this":[82],"foundation":[83],"and":[84],"new":[87],"for":[89],"generating":[90],"in":[92],"general":[94],"five-link":[95],"bipedal":[96],"robot.":[97],"Through":[98],"extensive":[99],"numerical":[100],"simulations,":[101],"demonstrate":[103],"proposed":[106],"achieves":[108],"highly":[109],"while":[112],"exhibiting":[113],"excellent":[114],"convergence":[115],"trajectories.":[118]},"counts_by_year":[],"updated_date":"2026-03-08T06:56:09.383167","created_date":"2025-12-23T00:00:00"}
