{"id":"https://openalex.org/W1984397445","doi":"https://doi.org/10.1109/amc.2012.6197116","title":"Zero Moment Point based pace reference generation for quadruped robots via preview control","display_name":"Zero Moment Point based pace reference generation for quadruped robots via preview control","publication_year":2012,"publication_date":"2012-03-01","ids":{"openalex":"https://openalex.org/W1984397445","doi":"https://doi.org/10.1109/amc.2012.6197116","mag":"1984397445"},"language":"en","primary_location":{"id":"doi:10.1109/amc.2012.6197116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5026259209","display_name":"Tun\u00e7 Akba\u015f","orcid":"https://orcid.org/0000-0002-5443-2090"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Tunc Akbas","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026088950","display_name":"\u015eefik Emre Eskimez","orcid":"https://orcid.org/0000-0001-6259-5925"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"S. Emre Eskimez","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039286439","display_name":"Selim \u00d6zel","orcid":"https://orcid.org/0000-0002-6044-2869"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Selim Ozel","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056714244","display_name":"\u00d6mer Kemal Adak","orcid":"https://orcid.org/0000-0003-1547-9627"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"O. Kemal Adak","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045085630","display_name":"Kaan Can Fidan","orcid":null},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Kaan C. Fidan","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033078122","display_name":"Kemalettin Erbatur","orcid":"https://orcid.org/0000-0001-6024-5112"},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Kemalettin Erbatur","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanc\u0131 University, Istanbul 34956, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":1.9362,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.82539206,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"7"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9801999926567078,"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"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9761000275611877,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8949178457260132},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7611908912658691},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7586028575897217},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6972973942756653},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.654171884059906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5847107768058777},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5451624989509583},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5435646772384644},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.49244341254234314},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.48129525780677795},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46709033846855164},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4467756748199463},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.43037015199661255},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.33966630697250366},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1921214461326599},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1787026822566986},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0981086790561676},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09390789270401001}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8949178457260132},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7611908912658691},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7586028575897217},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6972973942756653},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.654171884059906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5847107768058777},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5451624989509583},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5435646772384644},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.49244341254234314},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.48129525780677795},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46709033846855164},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4467756748199463},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.43037015199661255},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.33966630697250366},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1921214461326599},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1787026822566986},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0981086790561676},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09390789270401001},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/amc.2012.6197116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc.2012.6197116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.821.3826","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.821.3826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://myweb.sabanciuniv.edu/selimozel/files/2012/10/Zero-Moment-Point-Based-Pace-Reference-Generation-for-Quadruped-Robots-via-Preview-Control.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W78380264","https://openalex.org/W101458385","https://openalex.org/W1539513688","https://openalex.org/W1602657623","https://openalex.org/W1751231255","https://openalex.org/W1968722031","https://openalex.org/W1969025387","https://openalex.org/W1978911987","https://openalex.org/W1979467869","https://openalex.org/W2065238107","https://openalex.org/W2070507784","https://openalex.org/W2078664989","https://openalex.org/W2089476757","https://openalex.org/W2097144846","https://openalex.org/W2101323812","https://openalex.org/W2104709070","https://openalex.org/W2107180483","https://openalex.org/W2111643867","https://openalex.org/W2123680560","https://openalex.org/W2127188258","https://openalex.org/W2131544894","https://openalex.org/W2133859362","https://openalex.org/W2140764512","https://openalex.org/W2145148135","https://openalex.org/W2168756510","https://openalex.org/W2540132834","https://openalex.org/W3153915866","https://openalex.org/W4248741869","https://openalex.org/W4252510982","https://openalex.org/W6604131640","https://openalex.org/W6637889818","https://openalex.org/W6675414615","https://openalex.org/W6676903513"],"related_works":["https://openalex.org/W2129754669","https://openalex.org/W2744818472","https://openalex.org/W2600116237","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W2186639602","https://openalex.org/W1253671258","https://openalex.org/W2000932381","https://openalex.org/W4283266117","https://openalex.org/W2355512144"],"abstract_inverted_index":{"Legged":[0],"robots":[1,10],"have":[2],"significant":[3],"advantages":[4],"over":[5],"other":[6],"types":[7],"of":[8,74,86,126],"mobile":[9],"when":[11],"task":[12],"at":[13],"hand":[14],"requires":[15],"the":[16,45,53,71,119,124,127,132],"robot":[17,32,114],"to":[18,95],"overcome":[19],"obstacles.":[20],"This":[21],"paper":[22],"presents":[23],"a":[24,30,37],"reference":[25,60,68,97,100,128],"trajectory":[26,101],"generation":[27,102,129],"method":[28],"for":[29,33,62,70,131],"quadruped":[31,113],"pace":[34,63,133],"gait":[35],"on":[36,44],"flat":[38],"surface.":[39],"The":[40,84],"approach":[41],"is":[42,64,104,116],"based":[43],"Zero":[46],"Moment":[47],"Point":[48],"(ZMP)":[49],"stability":[50],"criterion":[51],"and":[52],"Linear":[54],"Inverted":[55],"Pendulum":[56],"Model":[57],"(LIPM).":[58],"ZMP":[59],"trajectories":[61,69],"proposed,":[65],"from":[66],"which":[67],"Robot":[72],"Center":[73],"Mass":[75],"(CoM)":[76],"references":[77],"are":[78,89],"obtained":[79],"by":[80],"applying":[81],"preview":[82],"control.":[83],"position":[85],"leg":[87],"joints":[88],"computed":[90],"using":[91],"inverse":[92],"kinematics":[93],"according":[94],"CoM":[96],"trajectory.":[98],"Proposed":[99],"synthesis":[103],"tested":[105],"through":[106],"full-dynamics":[107],"3D":[108],"simulation.":[109],"A":[110],"16-degrees-of-freedom":[111],"(DOF)":[112],"model":[115],"used":[117],"in":[118],"simulations.":[120],"Simulation":[121],"results":[122],"show":[123],"success":[125],"technique":[130],"gait.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
