{"id":"https://openalex.org/W3000705690","doi":"https://doi.org/10.1109/arso46408.2019.8948746","title":"Dynamic Gait Transition of a Humanoid Robot from Hand-Knee Crawling to Bipedal Walking based on Kinematic Primitives","display_name":"Dynamic Gait Transition of a Humanoid Robot from Hand-Knee Crawling to Bipedal Walking based on Kinematic Primitives","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3000705690","doi":"https://doi.org/10.1109/arso46408.2019.8948746","mag":"3000705690"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948746","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","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/A5101484185","display_name":"Yan Huang","orcid":"https://orcid.org/0000-0002-6083-1039"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yan Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100411172","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0002-9888-4160"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingqing Li","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084234078","display_name":"Aiguo Ming","orcid":"https://orcid.org/0000-0003-2961-0884"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Ming","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100345931","display_name":"Yu Liu","orcid":"https://orcid.org/0000-0003-3079-0229"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Liu","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007433804","display_name":"Yaliang Liu","orcid":"https://orcid.org/0000-0002-0148-4102"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaliang Liu","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and System, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101484185"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56702846,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"334","issue":null,"first_page":"240","last_page":"245"},"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":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9907000064849854,"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/crawling","display_name":"Crawling","score":0.9031556844711304},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.833864688873291},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8169095516204834},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6361615061759949},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6190033555030823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5699697732925415},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4820312261581421},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4207550883293152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.380929172039032},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3756060302257538},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36126112937927246},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2308139204978943},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12689131498336792},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09858047962188721}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9031556844711304},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.833864688873291},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8169095516204834},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6361615061759949},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6190033555030823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5699697732925415},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4820312261581421},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4207550883293152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.380929172039032},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3756060302257538},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36126112937927246},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2308139204978943},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12689131498336792},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09858047962188721},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/arso46408.2019.8948746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948746","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","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":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1798187755","https://openalex.org/W1965735313","https://openalex.org/W1969232476","https://openalex.org/W1989906078","https://openalex.org/W2029379062","https://openalex.org/W2034150512","https://openalex.org/W2036085062","https://openalex.org/W2036892224","https://openalex.org/W2047002614","https://openalex.org/W2059765450","https://openalex.org/W2077080603","https://openalex.org/W2101143083","https://openalex.org/W2107063340","https://openalex.org/W2111444054","https://openalex.org/W2116655729","https://openalex.org/W2122509169","https://openalex.org/W2130726249","https://openalex.org/W2133859362","https://openalex.org/W2149244757","https://openalex.org/W2153674013","https://openalex.org/W2202725678","https://openalex.org/W2289868423","https://openalex.org/W2293270475","https://openalex.org/W4238579147","https://openalex.org/W6676749342"],"related_works":["https://openalex.org/W4393220254","https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2026275902","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W4390481035","https://openalex.org/W2776995446"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,13],"full-body":[3],"joint":[4,33,53],"trajectory":[5],"generation":[6],"method":[7,71,88],"for":[8,91],"dynamic":[9],"gait":[10],"transition":[11,36,65,87],"of":[12,35,52,78],"humanoid":[14,82],"robot":[15,83],"from":[16,26],"hand-knee":[17],"crawling":[18],"to":[19],"bipedal":[20],"walking.":[21],"Kinematic":[22],"primitives":[23],"are":[24,37],"extracted":[25],"stable":[27],"walking":[28],"and":[29,44],"crawling.":[30],"Then":[31],"candidate":[32],"trajectories":[34,54],"constructed":[38],"based":[39],"on":[40,74],"the":[41,56,63,75],"basic":[42],"patterns":[43],"polynomial":[45],"interpolation":[46],"with":[47,55],"varying":[48],"parameters.":[49],"The":[50,67],"set":[51],"largest":[57],"stability":[58],"margin":[59],"is":[60,72,89],"selected":[61],"as":[62],"final":[64],"pattern.":[66],"proposed":[68],"motion":[69],"planning":[70],"validated":[73],"simulated":[76],"model":[77],"our":[79],"recently":[80],"developed":[81],"BHR-6.":[84],"A":[85],"static":[86],"used":[90],"comparison.":[92]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}