{"id":"https://openalex.org/W2938022340","doi":"https://doi.org/10.1080/01691864.2019.1600425","title":"A real-time optimal energy-saving walking pattern generator based on gradient descent method and linear quadratic control","display_name":"A real-time optimal energy-saving walking pattern generator based on gradient descent method and linear quadratic control","publication_year":2019,"publication_date":"2019-04-16","ids":{"openalex":"https://openalex.org/W2938022340","doi":"https://doi.org/10.1080/01691864.2019.1600425","mag":"2938022340"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2019.1600425","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1600425","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5055409319","display_name":"Huan-Kun Hsu","orcid":"https://orcid.org/0000-0003-3507-3616"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Huan-Kun Hsu","raw_affiliation_strings":["Mechanical Engineering Department, National Taiwan University, Taipei, Taiwan, ROC"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National Taiwan University, Taipei, Taiwan, ROC","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055365456","display_name":"Han\u2010Pang Huang","orcid":"https://orcid.org/0000-0003-4910-8031"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Han-Pang Huang","raw_affiliation_strings":["Mechanical Engineering Department, National Taiwan University, Taipei, Taiwan, ROC"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National Taiwan University, Taipei, Taiwan, ROC","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014074915","display_name":"Ming-Bao Huang","orcid":"https://orcid.org/0000-0002-4888-7291"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Bao Huang","raw_affiliation_strings":["Mechanical Engineering Department, National Taiwan University, Taipei, Taiwan, ROC"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, National Taiwan University, Taipei, Taiwan, ROC","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5055365456"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5391573,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"33","issue":"10","first_page":"487","last_page":"507"},"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":0.9896000027656555,"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":0.9391999840736389,"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/cog","display_name":"Cog","score":0.8394821882247925},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7225490212440491},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7181409597396851},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6555100679397583},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6463708281517029},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.5936497449874878},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.56509929895401},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.49983882904052734},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49354684352874756},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4571516215801239},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4471384882926941},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4147057831287384},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.363289475440979},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.3332270681858063},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3069949448108673},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1909758448600769},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15138459205627441},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10729643702507019},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08495524525642395},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08311387896537781}],"concepts":[{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.8394821882247925},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7225490212440491},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7181409597396851},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6555100679397583},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6463708281517029},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.5936497449874878},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.56509929895401},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.49983882904052734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49354684352874756},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4571516215801239},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4471384882926941},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4147057831287384},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.363289475440979},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.3332270681858063},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3069949448108673},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1909758448600769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15138459205627441},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10729643702507019},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08495524525642395},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08311387896537781},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2019.1600425","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2019.1600425","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1537482913","https://openalex.org/W1986032242","https://openalex.org/W2002803749","https://openalex.org/W2016468033","https://openalex.org/W2023253401","https://openalex.org/W2037729465","https://openalex.org/W2052346842","https://openalex.org/W2053549713","https://openalex.org/W2057462511","https://openalex.org/W2073615263","https://openalex.org/W2078908663","https://openalex.org/W2100656166","https://openalex.org/W2117962895","https://openalex.org/W2133859362","https://openalex.org/W2138671676","https://openalex.org/W2143982885","https://openalex.org/W2145477224","https://openalex.org/W2146215813","https://openalex.org/W2170217103","https://openalex.org/W2464684695","https://openalex.org/W2470676305","https://openalex.org/W2558388070","https://openalex.org/W2753572289"],"related_works":["https://openalex.org/W1988603010","https://openalex.org/W4302290647","https://openalex.org/W2898815460","https://openalex.org/W2698593353","https://openalex.org/W2997045072","https://openalex.org/W272057031","https://openalex.org/W371556439","https://openalex.org/W1527333012","https://openalex.org/W2756268232","https://openalex.org/W2111979202"],"abstract_inverted_index":{"Many":[0],"recent":[1],"approaches":[2],"have":[3],"successfully":[4],"generated":[5],"a":[6,24,110,172],"stable":[7],"walking":[8,93,104,111,114,175],"pattern":[9,94,115],"for":[10,106],"biped":[11],"robots,":[12],"but":[13],"discussions":[14],"about":[15],"its":[16],"optimization":[17,30],"are":[18],"relatively":[19],"few.":[20],"In":[21,146],"this":[22],"paper,":[23],"Center":[25],"of":[26,39,79,102,109,123,141],"Gravity":[27],"(COG)":[28],"trajectory":[29,72,100],"method":[31,168],"is":[32,73,117,158],"proposed":[33,92],"to":[34,85],"minimize":[35],"the":[36,56,65,77,80,86,91,97,137,142,150,155,163,167],"cost":[37,81],"function":[38,82],"joint":[40,42,45,139],"torque,":[41],"limit,":[43],"and":[44,61,121,132],"speed":[46],"limit.":[47],"The":[48,69,113],"linear":[49],"quadratic":[50],"control-based":[51],"inverted":[52],"pendulum":[53],"controller":[54],"optimizes":[55],"COG":[57,66,70,87,98,152],"trajectories":[58],"in":[59,170],"sagittal":[60],"lateral":[62],"directions":[63],"with":[64,83,127,149],"height":[67,71,88,99,153],"trajectory.":[68],"optimized":[74],"by":[75,119,160],"finding":[76],"derivative":[78],"respect":[84],"offline.":[89],"Then":[90],"generator":[95,116],"builds":[96],"database":[101],"different":[103,124],"steps":[105],"online":[107],"connection":[108],"pattern.":[112,176],"verified":[118],"experiments":[120],"simulations":[122],"step":[125],"cycles":[126],"our":[128],"humanoid":[129],"robot,":[130],"NINO,":[131],"it":[133],"can":[134],"clearly":[135],"reduce":[136],"required":[138],"torque":[140],"robot":[143],"while":[144],"walking.":[145],"addition,":[147],"compared":[148],"fixed":[151],"trajectory,":[154],"energy":[156],"consumption":[157],"reduced":[159],"14%":[161],"from":[162],"experimental":[164],"results.":[165],"Thus,":[166],"succeeds":[169],"generating":[171],"more":[173],"energy-saving":[174]},"counts_by_year":[{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}