{"id":"https://openalex.org/W1990788191","doi":"https://doi.org/10.1109/amc.2010.5464011","title":"Trajectory planning and control for biped robot with toe and heel joints","display_name":"Trajectory planning and control for biped robot with toe and heel joints","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W1990788191","doi":"https://doi.org/10.1109/amc.2010.5464011","mag":"1990788191"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-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/A5101746496","display_name":"Tomoya Sato","orcid":"https://orcid.org/0000-0002-6592-7398"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoya Sato","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065050034","display_name":"Sho Sakaino","orcid":"https://orcid.org/0000-0002-5182-5649"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sho Sakaino","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041501484","display_name":"Kouhei Ohnishi","orcid":"https://orcid.org/0000-0002-0785-3992"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kouhei Ohnishi","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Kanagawa, Japan","institution_ids":["https://openalex.org/I203951103"]},{"raw_affiliation_string":"Keio University, Department of System Design Engineering, 3-14-1, Hiyoshi, Kouhoku, Yokohama, Kanagawa 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.0871,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.77382796,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"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":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":0.9857000112533569,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9703999757766724,"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/trajectory","display_name":"Trajectory","score":0.7120726704597473},{"id":"https://openalex.org/keywords/heel","display_name":"Heel","score":0.6998273134231567},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6875261068344116},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.598383903503418},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5428180694580078},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5283843874931335},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5121269226074219},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.47333818674087524},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.44211259484291077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3753645420074463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3453006148338318},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3420678377151489},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13941821455955505},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08315220475196838},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05766099691390991}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7120726704597473},{"id":"https://openalex.org/C2777248721","wikidata":"https://www.wikidata.org/wiki/Q174647","display_name":"Heel","level":2,"score":0.6998273134231567},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6875261068344116},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.598383903503418},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5428180694580078},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5283843874931335},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5121269226074219},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.47333818674087524},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.44211259484291077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3753645420074463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3453006148338318},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3420678377151489},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13941821455955505},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08315220475196838},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05766099691390991},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464011","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W135960858","https://openalex.org/W1545656448","https://openalex.org/W1566268871","https://openalex.org/W1987041872","https://openalex.org/W2016877289","https://openalex.org/W2054106476","https://openalex.org/W2096323098","https://openalex.org/W2101226662","https://openalex.org/W2107964920","https://openalex.org/W2118647964","https://openalex.org/W2129340974","https://openalex.org/W2138136244","https://openalex.org/W2139966936","https://openalex.org/W2140782478","https://openalex.org/W2142992961","https://openalex.org/W2149449743","https://openalex.org/W2165178808","https://openalex.org/W2323232889","https://openalex.org/W2533561050","https://openalex.org/W2732939747","https://openalex.org/W2991542025","https://openalex.org/W4242059591","https://openalex.org/W6632629603","https://openalex.org/W6647320442","https://openalex.org/W6679031706","https://openalex.org/W7033823516","https://openalex.org/W7036288715"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4285553839","https://openalex.org/W2423203884","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W4293094921","https://openalex.org/W1674176876"],"abstract_inverted_index":{"In":[0],"this":[1,45,48,90],"paper,":[2],"a":[3,7,26,58],"trajectory":[4,31,49],"planning":[5,32,60,92],"and":[6,14,22,41,47,68,79,93],"control":[8,59,91],"for":[9,35,63,84],"biped":[10,28],"robots":[11],"with":[12,38,76],"toe":[13,21,40,78],"heel":[15,23,42,80],"joints":[16,24,81],"are":[17],"shown.":[18],"We":[19],"added":[20],"to":[25,86],"basic":[27],"robot.":[29],"A":[30,71],"is":[33,61,82,104,108],"extended":[34],"the":[36,39,51,77,94,97,101],"walking":[37,66,99],"joints.":[43],"Using":[44,89],"mechanism":[46],"planning,":[50],"stride":[52],"can":[53],"be":[54],"increased":[55],"more.":[56],"Additionally,":[57],"presented":[62],"division":[64],"of":[65],"stabilization":[67],"environmental":[69],"adaptation.":[70],"time-based":[72],"switching":[73],"impedance":[74],"controller":[75],"proposed":[83,95],"adaptation":[85],"uneven":[87],"terrain.":[88],"method,":[96],"stable":[98],"on":[100],"rough":[102],"terrain":[103],"realized.":[105],"The":[106],"validity":[107],"confirmed":[109],"by":[110],"experimental":[111],"results.":[112]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}