{"id":"https://openalex.org/W4296702005","doi":"https://doi.org/10.1080/01691864.2022.2120774","title":"A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking","display_name":"A continuous-time walking pattern generator for realizing seamless transition between flat-contact and heel-to-toe walking","publication_year":2022,"publication_date":"2022-09-21","ids":{"openalex":"https://openalex.org/W4296702005","doi":"https://doi.org/10.1080/01691864.2022.2120774"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2022.2120774","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2120774","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","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":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1080/01691864.2022.2120774","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010816124","display_name":"Yuichi Tazaki","orcid":"https://orcid.org/0000-0001-5087-6623"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yuichi Tazaki","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027454709","display_name":"Satomi Hanasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satomi Hanasaki","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025760342","display_name":"Soh Yukizaki","orcid":null},"institutions":[{"id":"https://openalex.org/I193666615","display_name":"Kawasaki Heavy Industries (Japan)","ror":"https://ror.org/01sggg367","country_code":"JP","type":"company","lineage":["https://openalex.org/I193666615"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Soh Yukizaki","raw_affiliation_strings":["Kawasaki Heavy Industries, Ltd., Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd., Kobe, Japan","institution_ids":["https://openalex.org/I193666615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021725602","display_name":"Yugo Mitazono","orcid":null},"institutions":[{"id":"https://openalex.org/I193666615","display_name":"Kawasaki Heavy Industries (Japan)","ror":"https://ror.org/01sggg367","country_code":"JP","type":"company","lineage":["https://openalex.org/I193666615"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yugo Mitazono","raw_affiliation_strings":["Kawasaki Heavy Industries, Ltd., Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Kawasaki Heavy Industries, Ltd., Kobe, Japan","institution_ids":["https://openalex.org/I193666615"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027734240","display_name":"Hikaru Nagano","orcid":"https://orcid.org/0000-0001-5230-6288"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hikaru Nagano","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071211343","display_name":"Yasuyoshi Yokokohji","orcid":"https://orcid.org/0000-0001-8869-7102"},"institutions":[{"id":"https://openalex.org/I65837984","display_name":"Kobe University","ror":"https://ror.org/03tgsfw79","country_code":"JP","type":"education","lineage":["https://openalex.org/I65837984"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuyoshi Yokokohji","raw_affiliation_strings":["Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Graduate School of Engineering, Kobe University, Kobe, Japan","institution_ids":["https://openalex.org/I65837984"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5010816124"],"corresponding_institution_ids":["https://openalex.org/I65837984"],"apc_list":null,"apc_paid":null,"fwci":0.1635,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.42867143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"37","issue":"5","first_page":"316","last_page":"328"},"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":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9702000021934509,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7598122358322144},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7051548957824707},{"id":"https://openalex.org/keywords/heel","display_name":"Heel","score":0.6641024351119995},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5656952261924744},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.5406612157821655},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5268793702125549},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.5065573453903198},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4961584508419037},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4572134017944336},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43332168459892273},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28470128774642944},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.17171546816825867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14784646034240723},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1255260407924652},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12468495965003967},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12326398491859436},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08477306365966797}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7598122358322144},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7051548957824707},{"id":"https://openalex.org/C2777248721","wikidata":"https://www.wikidata.org/wiki/Q174647","display_name":"Heel","level":2,"score":0.6641024351119995},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5656952261924744},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.5406612157821655},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5268793702125549},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.5065573453903198},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4961584508419037},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4572134017944336},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43332168459892273},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28470128774642944},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.17171546816825867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14784646034240723},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1255260407924652},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12468495965003967},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12326398491859436},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08477306365966797},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01691864.2022.2120774","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2120774","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:da.lib.kobe-u.ac.jp:20.500.14094/0100477521","is_oa":true,"landing_page_url":"https://hdl.handle.net/20.500.14094/0100477521","pdf_url":"https://da.lib.kobe-u.ac.jp/da/kernel/0100477521/0100477521.pdf","source":{"id":"https://openalex.org/S4306401924","display_name":"Kobe University Repository Kernel (Kobe University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I65837984","host_organization_name":"Kobe University","host_organization_lineage":["https://openalex.org/I65837984"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Robotics\u300037(5), 316-328","raw_type":"journal article"}],"best_oa_location":{"id":"doi:10.1080/01691864.2022.2120774","is_oa":true,"landing_page_url":"https://doi.org/10.1080/01691864.2022.2120774","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":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2007533571","https://openalex.org/W2061578829","https://openalex.org/W2107063340","https://openalex.org/W2126729486","https://openalex.org/W2140764512","https://openalex.org/W2160365700","https://openalex.org/W2168936093","https://openalex.org/W2213786202","https://openalex.org/W2329006744","https://openalex.org/W2568232841","https://openalex.org/W2613021707","https://openalex.org/W2772085282","https://openalex.org/W2917554104","https://openalex.org/W3143993880","https://openalex.org/W3193798503","https://openalex.org/W3205983103"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2593698653","https://openalex.org/W2632641154","https://openalex.org/W2062010076","https://openalex.org/W2142132924","https://openalex.org/W2651176679","https://openalex.org/W2151114014","https://openalex.org/W1587642588","https://openalex.org/W2542035850"],"abstract_inverted_index":{"A":[0],"planning":[1],"algorithm":[2],"that":[3],"can":[4],"generate":[5],"continuous-time":[6],"walking":[7,17,90],"patterns":[8],"including":[9],"the":[10,26,38,41,61,67,71,92],"seamless":[11],"transition":[12],"between":[13,66],"flat-contact":[14],"and":[15,40,63,70],"heel-to-toe":[16,52],"gaits":[18],"is":[19,57,74],"proposed.":[20],"The":[21,51],"planner":[22],"makes":[23],"use":[24],"of":[25,29,44,54,83,95],"closed-form":[27],"solution":[28],"a":[30,79,84],"modified":[31],"linear":[32],"inverted":[33],"pendulum":[34],"mode":[35],"which":[36],"includes":[37],"ZMP":[39],"weight":[42],"ratio":[43],"each":[45,55],"foot":[46,56,68],"explicitly":[47],"in":[48],"its":[49],"dynamics.":[50],"movement":[53,69],"directly":[58],"parameterized":[59],"by":[60],"ZMP,":[62],"therefore":[64],"consistency":[65],"low-dimensional":[72],"dynamics":[73],"ensured.":[75],"In":[76],"simulations":[77],"with":[78],"32":[80],"DoF":[81],"model":[82],"life-sized":[85],"humanoid":[86],"robot,":[87],"fast":[88],"human-like":[89],"at":[91],"maximum":[93],"speed":[94],"4.6":[96],"km/h":[97],"was":[98],"achieved.":[99]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2026-04-07T14:57:38.498316","created_date":"2025-10-10T00:00:00"}