{"id":"https://openalex.org/W2995902770","doi":"https://doi.org/10.1017/s0269888919000201","title":"The average speed of motion and optimal power consumption in biped robots","display_name":"The average speed of motion and optimal power consumption in biped robots","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2995902770","doi":"https://doi.org/10.1017/s0269888919000201","mag":"2995902770"},"language":"en","primary_location":{"id":"doi:10.1017/s0269888919000201","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0269888919000201","pdf_url":null,"source":{"id":"https://openalex.org/S137506714","display_name":"The Knowledge Engineering Review","issn_l":"0269-8889","issn":["0269-8889","1469-8005"],"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":"The Knowledge Engineering Review","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/A5026225369","display_name":"Vida Shams Esfanabadi","orcid":null},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Vida Shams Esfanabadi","raw_affiliation_strings":["Mechanical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran e-mail:","Amirkabir\u00a0University\u00a0of\u00a0Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran e-mail:","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir\u00a0University\u00a0of\u00a0Technology","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040583664","display_name":"Mostafa Rostami","orcid":"https://orcid.org/0000-0001-5375-1703"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mostafa Rostami","raw_affiliation_strings":["Biomedical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran","Amirkabir\u00a0University\u00a0of\u00a0Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir\u00a0University\u00a0of\u00a0Technology","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004349142","display_name":"Seyed Mohammadali Rahmati","orcid":"https://orcid.org/0000-0002-9555-2419"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Seyed Mohammadali Rahmati","raw_affiliation_strings":["Biomedical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran","Amirkabir\u00a0University\u00a0of\u00a0Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir\u00a0University\u00a0of\u00a0Technology","institution_ids":["https://openalex.org/I158248296"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083823417","display_name":"Jacky Baltes","orcid":"https://orcid.org/0000-0003-3360-1892"},"institutions":[{"id":"https://openalex.org/I134161618","display_name":"National Taiwan Normal University","ror":"https://ror.org/059dkdx38","country_code":"TW","type":"education","lineage":["https://openalex.org/I134161618"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jacky Baltes","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan Normal University, 162 Heping E Road Section 1, Taipei, 10610, Taiwan","\u201cNational Taiwan Normal University\u201d"],"raw_orcid":"https://orcid.org/0000-0003-3360-1892","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan Normal University, 162 Heping E Road Section 1, Taipei, 10610, Taiwan","institution_ids":["https://openalex.org/I134161618"]},{"raw_affiliation_string":"\u201cNational Taiwan Normal University\u201d","institution_ids":["https://openalex.org/I134161618"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042444928","display_name":"Soroush Sadeghnejad","orcid":"https://orcid.org/0000-0001-8286-7756"},"institutions":[{"id":"https://openalex.org/I158248296","display_name":"Amirkabir University of Technology","ror":"https://ror.org/04gzbav43","country_code":"IR","type":"education","lineage":["https://openalex.org/I158248296"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Soroush Sadeghnejad","raw_affiliation_strings":["Mechanical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran e-mail:","Amirkabir\u00a0University\u00a0of\u00a0Technology"],"raw_orcid":"https://orcid.org/0000-0001-8286-7756","affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Amirkabir University of Technology (Tehran Polytechnic), No. 424, Hafez Avenue, Tehran, 15875-4413, Iran e-mail:","institution_ids":["https://openalex.org/I158248296"]},{"raw_affiliation_string":"Amirkabir\u00a0University\u00a0of\u00a0Technology","institution_ids":["https://openalex.org/I158248296"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0997,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.46425634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"34","issue":null,"first_page":null,"last_page":null},"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":0.9865000247955322,"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":0.9502999782562256,"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":0.7971901893615723},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.695981502532959},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6106881499290466},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6033782958984375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5963631272315979},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5823555588722229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5597540140151978},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.5540242195129395},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.5133280158042908},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.49285030364990234},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.47453153133392334},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.4735616445541382},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46360695362091064},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.46254560351371765},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.2517833411693573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24148991703987122},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.18945330381393433},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.12447765469551086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1116163432598114},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07513448596000671}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7971901893615723},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.695981502532959},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6106881499290466},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6033782958984375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5963631272315979},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5823555588722229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5597540140151978},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.5540242195129395},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.5133280158042908},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.49285030364990234},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.47453153133392334},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.4735616445541382},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46360695362091064},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.46254560351371765},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.2517833411693573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24148991703987122},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.18945330381393433},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.12447765469551086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1116163432598114},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07513448596000671},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0269888919000201","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0269888919000201","pdf_url":null,"source":{"id":"https://openalex.org/S137506714","display_name":"The Knowledge Engineering Review","issn_l":"0269-8889","issn":["0269-8889","1469-8005"],"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":"The Knowledge Engineering Review","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W170292166","https://openalex.org/W632036137","https://openalex.org/W744928397","https://openalex.org/W1503536476","https://openalex.org/W1573998781","https://openalex.org/W1999174548","https://openalex.org/W2036484113","https://openalex.org/W2037729465","https://openalex.org/W2046816758","https://openalex.org/W2048100353","https://openalex.org/W2106300679","https://openalex.org/W2108890480","https://openalex.org/W2115721138","https://openalex.org/W2127763473","https://openalex.org/W2155446094","https://openalex.org/W2326186327","https://openalex.org/W2394606893","https://openalex.org/W2398842683","https://openalex.org/W2481452269","https://openalex.org/W2490545168","https://openalex.org/W2497286804","https://openalex.org/W2521052416","https://openalex.org/W2542370644","https://openalex.org/W2577906553","https://openalex.org/W2585469550","https://openalex.org/W2745710449","https://openalex.org/W2777510795","https://openalex.org/W2780793100","https://openalex.org/W2892071818","https://openalex.org/W2916766343","https://openalex.org/W2948838087","https://openalex.org/W2965371074","https://openalex.org/W4211003818","https://openalex.org/W4214850513","https://openalex.org/W6723017946","https://openalex.org/W6729237368"],"related_works":["https://openalex.org/W2740170066","https://openalex.org/W4243508478","https://openalex.org/W2105285043","https://openalex.org/W2100505659","https://openalex.org/W4214494871","https://openalex.org/W2189448041","https://openalex.org/W2205124957","https://openalex.org/W2365752317","https://openalex.org/W2914175934","https://openalex.org/W2101614124"],"abstract_inverted_index":{"Abstract":[0],"One":[1],"of":[2,31,55,76,102,136,146,159,172,179],"the":[3,53,69,73,77,80,92,100,103,170,177,194,201,213,222,238,243],"issues":[4],"that":[5,11,232,253],"have":[6,44],"garnered":[7],"little":[8],"attention,":[9],"but":[10],"is":[12,19,34,89,206,258],"nevertheless":[13],"important":[14],"for":[15,41,133,156,193,200,208],"developing":[16],"practical":[17],"robots,":[18],"optimal":[20,60],"walking":[21,39,49,120,161],"conditions":[22],"like":[23,226,249],"power":[24,61,74,131,240],"consumption":[25,75],"during":[26,79],"walking.":[27],"The":[28,182],"main":[29],"contribution":[30],"this":[32,64],"research":[33],"to":[35,98,117,126,212,247,267,275],"prepare":[36],"a":[37,45,134,227,230,250,259],"correct":[38,160],"pattern":[40],"humans":[42],"who":[43],"problem":[46],"with":[47,237,278],"their":[48],"and":[50,71,129,187,197,216,219,262,270],"also":[51,263],"study":[52,257,261],"effect":[54],"average":[56,144],"motion":[57,157],"speed":[58,145],"on":[59,91,111],"consumption.":[62,241],"In":[63],"study,":[65],"we":[66,108,254],"firstly":[67],"optimize":[68],"stability":[70,101,235],"minimize":[72],"robot":[78,223,244],"single":[81],"support":[82],"phase":[83],"using":[84],"parameter":[85],"optimization.":[86],"Our":[87,163],"approach":[88],"based":[90],"well-known":[93],"Zero":[94],"Moment":[95],"Point":[96],"method":[97],"calculate":[99],"proposed":[104],"biped":[105],"robot.":[106],"Secondly,":[107],"performed":[109],"experiments":[110],"healthy":[112],"male,":[113],"age":[114],"29":[115],"years,":[116],"analyze":[118],"human":[119],"by":[121,168],"placing":[122],"28":[123],"markers,":[124],"attached":[125],"anatomical":[127],"positions":[128],"two":[130],"plates":[132],"distance":[135],"more":[137],"than":[138],"one":[139],"gait":[140],"cycle":[141],"at":[142],"an":[143],"1.23":[147],"\u00b1":[148],"0.1":[149],"m":[150],"s":[151],"\u22121":[152],"validate":[153],"our":[154,173,180,188,209],"results":[155,171],"analysis":[158],"ability.":[162],"model":[164,215],"was":[165,245],"continuously":[166],"validated":[167],"comparing":[169],"empirical":[174],"evaluation":[175],"against":[176],"prediction":[178,189],"model.":[181],"errors":[183],"between":[184],"experimental":[185],"test":[186],"were":[190],"about":[191,198],"4%\u201311%":[192],"joint":[195],"trajectories":[196],"0.2%\u20130.5%":[199],"ground":[202],"reaction":[203],"forces":[204],"which":[205],"acceptable":[207],"prediction.":[210],"Due":[211],"presented":[214],"optimized":[217],"issue":[218],"predicted":[220],"path,":[221],"can":[224,264,271],"move":[225],"person":[228,252],"in":[229],"way":[231],"has":[233],"maximum":[234],"along":[236],"minimum":[239],"Finally,":[242],"able":[246],"walk":[248],"specific":[251],"considered.":[255],"This":[256],"case":[260],"be":[265],"generalized":[266],"all":[268],"samples":[269],"perform":[272],"these":[273],"procedures":[274],"another":[276],"person\u2019s":[277],"different":[279],"features.":[280]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
