{"id":"https://openalex.org/W2871612015","doi":"https://doi.org/10.1108/ir-01-2018-0011","title":"Optimization-based gait planning and control for biped robots utilizing the optimal allowable ZMP variation region","display_name":"Optimization-based gait planning and control for biped robots utilizing the optimal allowable ZMP variation region","publication_year":2018,"publication_date":"2018-07-11","ids":{"openalex":"https://openalex.org/W2871612015","doi":"https://doi.org/10.1108/ir-01-2018-0011","mag":"2871612015"},"language":"en","primary_location":{"id":"doi:10.1108/ir-01-2018-0011","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2018-0011","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5101085137","display_name":"Hongbo Zhu","orcid":"https://orcid.org/0009-0002-3229-0260"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongbo Zhu","raw_affiliation_strings":["Anhui University of Science and Technology, Huainan, China"],"affiliations":[{"raw_affiliation_string":"Anhui University of Science and Technology, Huainan, China","institution_ids":["https://openalex.org/I184681353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032989636","display_name":"Minzhou Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Minzhou Luo","raw_affiliation_strings":["Hohai University - Changzhou Campus, Changzhou, China"],"affiliations":[{"raw_affiliation_string":"Hohai University - Changzhou Campus, Changzhou, China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103166173","display_name":"Jingzhao Li","orcid":"https://orcid.org/0009-0008-0389-6224"},"institutions":[{"id":"https://openalex.org/I184681353","display_name":"Anhui University of Science and Technology","ror":"https://ror.org/00q9atg80","country_code":"CN","type":"education","lineage":["https://openalex.org/I184681353"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingzhao Li","raw_affiliation_strings":["Anhui University of Science and Technology, Huainan, China"],"affiliations":[{"raw_affiliation_string":"Anhui University of Science and Technology, Huainan, China","institution_ids":["https://openalex.org/I184681353"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5101085137"],"corresponding_institution_ids":["https://openalex.org/I184681353"],"apc_list":null,"apc_paid":null,"fwci":0.3269,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.56525097,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"45","issue":"4","first_page":"469","last_page":"480"},"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":0.993399977684021,"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":0.9778000116348267,"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/zero-moment-point","display_name":"Zero moment point","score":0.85814368724823},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7942447662353516},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7106513977050781},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.614231526851654},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5957679748535156},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5153969526290894},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5046037435531616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47156617045402527},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.46102577447891235},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4551337957382202},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.4535256028175354},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3773900866508484},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2686493992805481},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.24721601605415344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14189687371253967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14092284440994263},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.09888556599617004},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06780451536178589}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.85814368724823},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7942447662353516},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7106513977050781},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.614231526851654},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5957679748535156},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5153969526290894},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5046037435531616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47156617045402527},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.46102577447891235},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4551337957382202},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.4535256028175354},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3773900866508484},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2686493992805481},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.24721601605415344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14189687371253967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14092284440994263},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.09888556599617004},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06780451536178589},{"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},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-01-2018-0011","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2018-0011","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1485447451","https://openalex.org/W1967365365","https://openalex.org/W1974839950","https://openalex.org/W1974986187","https://openalex.org/W1978911987","https://openalex.org/W1991800531","https://openalex.org/W2005126631","https://openalex.org/W2017357711","https://openalex.org/W2026275902","https://openalex.org/W2035757418","https://openalex.org/W2037729465","https://openalex.org/W2052346842","https://openalex.org/W2068033831","https://openalex.org/W2073376065","https://openalex.org/W2085978624","https://openalex.org/W2087341820","https://openalex.org/W2087689989","https://openalex.org/W2120625568","https://openalex.org/W2129754669","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2138136244","https://openalex.org/W2140764512","https://openalex.org/W2142568566","https://openalex.org/W2143613605","https://openalex.org/W2149567280","https://openalex.org/W2154748236","https://openalex.org/W2159593326","https://openalex.org/W2170918662","https://openalex.org/W2171263295","https://openalex.org/W2339109933","https://openalex.org/W2599118979"],"related_works":["https://openalex.org/W3141840228","https://openalex.org/W4206661479","https://openalex.org/W3134497028","https://openalex.org/W4223565945","https://openalex.org/W2042585269","https://openalex.org/W1965885603","https://openalex.org/W2390631805","https://openalex.org/W3042389473","https://openalex.org/W2964616099","https://openalex.org/W3198215045"],"abstract_inverted_index":{"Purpose":[0],"The":[1,177,203],"purpose":[2],"of":[3,21,75,97,105,110,112,116,146,163],"this":[4],"study":[5],"is":[6,90,206],"to":[7,18,68,92,160,220,229,234,237],"present":[8],"an":[9,84],"optimization-based":[10],"gait":[11,45,65,86,99,106,227],"planning":[12],"method":[13,190],"for":[14,169],"biped":[15,170,200,232],"robots":[16,171],"according":[17,159],"the":[19,26,39,51,73,94,117,128,133,161,166,188,208,224],"conditions":[20,162],"terrain,":[22],"which":[23,61,125,216],"takes":[24],"fully":[25],"relationship":[27],"between":[28],"walking":[29,129,138],"stability":[30,130,139],"margin":[31,131,140],"and":[32,121,155,180,184,195,222],"energy":[33,134],"efficiency":[34,135],"into":[35],"account.":[36],"Design/methodology/approach":[37],"First,":[38],"authors":[40],"newly":[41],"designed":[42],"a":[43,198,231],"practical":[44,142],"motion":[46,120],"synthesis":[47],"algorithm":[48,89],"by":[49],"using":[50],"optimal":[52,95],"allowable":[53],"zero":[54],"moment":[55,157],"point":[56],"(ZMP)":[57],"variation":[58],"region":[59],"(OAZR),":[60],"can":[62],"generate":[63,223],"different":[64,69],"motions":[66,228],"corresponding":[67],"terrains":[70],"based":[71,213],"on":[72,197,214],"modifiability":[74],"ZMP":[76],"in":[77],"lateral":[78],"(":[79],"y":[80],"-axis)":[81],"direction.":[82],"Second,":[83],"effective":[85],"parameter":[87],"optimization":[88],"performed":[91],"find":[93],"set":[96],"key":[98],"parameters":[100],"(step":[101],"length,":[102],"duration":[103],"time":[104],"cycle,":[107],"average":[108],"height":[109],"center":[111],"mass":[113],"(CoM),":[114],"amplitude":[115],"vertical":[118],"CoM":[119],"double":[122],"support":[123],"ratio),":[124],"maximizes":[126],"either":[127],"or":[132],"with":[136],"certain":[137],"under":[141],"constraints":[143,145],"(mechanical":[144],"all":[147],"joint":[148],"motors,":[149],"geometric":[150],"constraints,":[151],"friction":[152],"force":[153],"limit":[154],"yawing":[156],"limit)":[158],"terrain.":[164],"Third,":[165],"necessary":[167],"controllers":[168],"have":[172],"been":[173,211],"introduced":[174],"briefly.":[175],"Findings":[176],"experiment":[178],"data":[179],"results":[181],"are":[182],"described":[183],"analyzed,":[185],"showing":[186],"that":[187,207],"proposed":[189],"was":[191],"verified":[192],"through":[193],"simulations":[194],"implemented":[196],"DRC-XT":[199],"robot.":[201],"Originality/value":[202],"main":[204],"contribution":[205],"OAZR":[209],"has":[210],"defined":[212],"AZR,":[215],"could":[217],"be":[218],"used":[219],"plan":[221],"various":[225,238],"feasible":[226],"help":[230],"robot":[233],"adapt":[235],"effectively":[236],"terrains.":[239]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}