{"id":"https://openalex.org/W2011604013","doi":"https://doi.org/10.1109/amc.2010.5464096","title":"Biped walking pattern generation by using preview control with virtual plane method","display_name":"Biped walking pattern generation by using preview control with virtual plane method","publication_year":2010,"publication_date":"2010-03-01","ids":{"openalex":"https://openalex.org/W2011604013","doi":"https://doi.org/10.1109/amc.2010.5464096","mag":"2011604013"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2010.5464096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464096","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/A5063922547","display_name":"Shuhei Shimmyo","orcid":null},"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":true,"raw_author_name":"Shuhei Shimmyo","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-ku, Yokohama, Kanagawa, 223-8522, Japan"],"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-ku, Yokohama, Kanagawa, 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","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-ku, Yokohama, Kanagawa, 223-8522, Japan"],"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-ku, 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-ku, Yokohama, Kanagawa, 223-8522, Japan"],"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-ku, Yokohama, Kanagawa, 223-8522, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5063922547"],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":1.0557,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.76950556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"414","last_page":"419"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9944999814033508,"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/zero-moment-point","display_name":"Zero moment point","score":0.8376858234405518},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.8035180568695068},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6658265590667725},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.6520419120788574},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5748644471168518},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5232942700386047},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4899412989616394},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4849407970905304},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4496203660964966},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.41421395540237427},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.41078075766563416},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4046354293823242},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.36397337913513184},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25643283128738403},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1425013542175293}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8376858234405518},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.8035180568695068},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6658265590667725},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.6520419120788574},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5748644471168518},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5232942700386047},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4899412989616394},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4849407970905304},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4496203660964966},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.41421395540237427},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.41078075766563416},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4046354293823242},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.36397337913513184},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25643283128738403},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1425013542175293},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc.2010.5464096","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2010.5464096","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W1917860510","https://openalex.org/W2000589175","https://openalex.org/W2036484113","https://openalex.org/W2096323098","https://openalex.org/W2117962895","https://openalex.org/W2120625568","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2140756320","https://openalex.org/W2156320663","https://openalex.org/W2315280141","https://openalex.org/W2732939747","https://openalex.org/W4242059591"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W1988603010","https://openalex.org/W2047733616","https://openalex.org/W2317940939","https://openalex.org/W2008326336","https://openalex.org/W2090855129","https://openalex.org/W2368185326","https://openalex.org/W3101555838"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,98],"biped":[4,20,44,74],"walking":[5,25,45,70,75,102,119],"pattern":[6,76,103,120],"generation":[7,77,104,121],"by":[8,78,122,134],"using":[9,64,123],"preview":[10,65,79,124],"control":[11,66,80],"with":[12],"virtual":[13],"plane":[14],"method.":[15],"It":[16],"is":[17,36,63,132],"important":[18],"for":[19,105],"robots":[21],"to":[22,67,84],"generate":[23,68],"desired":[24],"patterns":[26],"which":[27],"satisfy":[28],"given":[29],"Zero-Moment-Point":[30],"(ZMP)":[31],"trajectories.":[32],"Solving":[33],"ZMP":[34],"equation":[35],"one":[37],"of":[38,50,58,87,89,118,128],"the":[39,43,51,59,69,107,116,129],"key":[40],"issues":[41],"in":[42,93,109],"research":[46],"field.":[47],"Many":[48],"kinds":[49],"solutions":[52,62],"have":[53],"ever":[54],"been":[55],"proposed.":[56],"One":[57],"most":[60],"efficient":[61],"patterns.":[71],"However,":[72],"conventional":[73],"cannot":[81],"be":[82],"applied":[83],"up-down":[85],"motions":[86],"Center":[88],"Gravity":[90],"(COG).":[91],"Therefore,":[92],"this":[94],"research,":[95],"we":[96],"propose":[97],"method":[99,114,131],"that":[100],"realizes":[101],"moving":[106],"COG":[108],"vertical":[110],"direction.":[111],"The":[112,126],"proposed":[113,130],"expands":[115],"versatility":[117],"control.":[125],"effectiveness":[127],"confirmed":[133],"experimental":[135],"results.":[136]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}