{"id":"https://openalex.org/W4225769949","doi":"https://doi.org/10.1109/access.2022.3169886","title":"Optimization of Pelvic Rotation Walking Pattern Considering Future States Using Model Predictive Control to Increase the Step Length","display_name":"Optimization of Pelvic Rotation Walking Pattern Considering Future States Using Model Predictive Control to Increase the Step Length","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4225769949","doi":"https://doi.org/10.1109/access.2022.3169886"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3169886","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3169886","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09762273.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09762273.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5032910467","display_name":"Beomyeong Park","orcid":"https://orcid.org/0000-0002-1836-3024"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Beomyeong Park","raw_affiliation_strings":["Department of Transdisciplinary Studies, Graduate of School of Convergence Science and Technology, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-1836-3024","affiliations":[{"raw_affiliation_string":"Department of Transdisciplinary Studies, Graduate of School of Convergence Science and Technology, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Graduate School of Convergence Science and Technology, ASRI, RICS, Seoul National University, Seoul, South Korea","Advanced Institutes of Convergence Technology, Suwon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5062-8264","affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science and Technology, ASRI, RICS, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Suwon, South Korea","institution_ids":["https://openalex.org/I4210120602"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.1587,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.39261376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"10","issue":null,"first_page":"44471","last_page":"44482"},"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":0.998199999332428,"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":0.9866999983787537,"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/rotation","display_name":"Rotation (mathematics)","score":0.6630362272262573},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6410439014434814},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5530275106430054},{"id":"https://openalex.org/keywords/pelvis","display_name":"Pelvis","score":0.5529230833053589},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5171653628349304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4696732461452484},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4408855736255646},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42046481370925903},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3337510824203491},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3071333169937134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26805174350738525},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.15703809261322021},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10507762432098389},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.0998775064945221},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07655149698257446}],"concepts":[{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6630362272262573},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6410439014434814},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5530275106430054},{"id":"https://openalex.org/C2778357063","wikidata":"https://www.wikidata.org/wiki/Q713102","display_name":"Pelvis","level":2,"score":0.5529230833053589},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5171653628349304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4696732461452484},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4408855736255646},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42046481370925903},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3337510824203491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3071333169937134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26805174350738525},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.15703809261322021},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10507762432098389},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0998775064945221},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07655149698257446},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3169886","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3169886","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09762273.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:bcdc745565b4405c9ef0faa7d991d21a","is_oa":true,"landing_page_url":"https://doaj.org/article/bcdc745565b4405c9ef0faa7d991d21a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 44471-44482 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3169886","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3169886","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09762273.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G6710526294","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W126064329","https://openalex.org/W1581909396","https://openalex.org/W1968106150","https://openalex.org/W1989314419","https://openalex.org/W1993383995","https://openalex.org/W1994275787","https://openalex.org/W2000498546","https://openalex.org/W2013439434","https://openalex.org/W2049215078","https://openalex.org/W2056223738","https://openalex.org/W2118320757","https://openalex.org/W2125150855","https://openalex.org/W2133859362","https://openalex.org/W2139452738","https://openalex.org/W2143729862","https://openalex.org/W2146469560","https://openalex.org/W2156441448","https://openalex.org/W2166792382","https://openalex.org/W2206209166","https://openalex.org/W2529695652","https://openalex.org/W2942783566","https://openalex.org/W2981545385","https://openalex.org/W2990247127","https://openalex.org/W3108591856","https://openalex.org/W3131796808","https://openalex.org/W3205160803"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2564804538","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2026275902"],"abstract_inverted_index":{"Pelvic":[0],"rotation,":[1,152],"which":[2],"is":[3,8],"observed":[4],"in":[5,16,56,174,179,193],"human":[6],"gait,":[7],"used":[9,44,85],"to":[10,42,48,105,125],"increase":[11,173],"a":[12,75,79,87],"robot\u2019s":[13],"step":[14,101,115,175],"length":[15,102,116],"the":[17,27,46,50,94,98,114,119,156,180],"humanoid":[18,202],"robot":[19,203],"walking.":[20],"Existing":[21],"methods":[22,39],"empirically":[23],"or":[24,65],"experimentally":[25,199],"generate":[26,49],"pelvic-rotation":[28,80],"angle":[29],"offline":[30],"using":[31,59,138,143,167,201],"predetermined":[32],"pelvis":[33],"and":[34,111,158,177,191],"foot":[35],"trajectories.":[36],"Therefore,":[37],"these":[38],"are":[40],"difficult":[41],"be":[43,84],"with":[45,86,113],"method":[47,76,91,197],"center":[51],"of":[52,97,182,185],"mass":[53],"(CoM)":[54],"trajectory":[55,81],"real":[57],"time":[58],"techniques":[60],"such":[61],"as":[62],"preview":[63],"control":[64],"model":[66,68],"predictive":[67],"control.":[69],"In":[70],"this":[71],"study,":[72],"we":[73],"propose":[74],"that":[77,82],"generates":[78],"can":[83],"real-time":[88],"CoM":[89],"generation":[90],"while":[92],"reflecting":[93],"future":[95],"state":[96],"robot.":[99],"The":[100,146,195],"increased":[103,117],"due":[104],"pelvic":[106,139,151,186],"rotation":[107,140,187],"was":[108,141,198],"kinematically":[109],"analyzed":[110,190],"compared":[112,192],"by":[118,132],"proposed":[120,196],"method.":[121],"Upper":[122],"body":[123,134,160],"motion":[124],"compensate":[126],"for":[127,150,155,162],"yaw":[128,148],"angular":[129],"momentum":[130],"generated":[131],"lower":[133],"movement":[135],"during":[136],"walking":[137,188],"optimized":[142,166],"centroial":[144],"dynamics.":[145],"waist":[147],"joint":[149,154,161],"leg":[153],"walking,":[157],"upper":[159],"arm":[163],"swing":[164],"were":[165,189],"separate":[168],"optimal":[169],"controllers.":[170],"Energy":[171],"efficiency,":[172],"length,":[176],"decrease":[178],"possibility":[181],"singularity":[183],"occurrence":[184],"simulations.":[194],"verified":[200],"Dyros-Jet.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-19T21:40:30.786675","created_date":"2022-05-05T00:00:00"}