{"id":"https://openalex.org/W2100021781","doi":"https://doi.org/10.1109/cdc.2007.4434991","title":"The running control of humanoid robot utilizing Q-learning and output zeroing","display_name":"The running control of humanoid robot utilizing Q-learning and output zeroing","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2100021781","doi":"https://doi.org/10.1109/cdc.2007.4434991","mag":"2100021781"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2007.4434991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","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/A5074569398","display_name":"Kohei Suseki","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kohei Suseki","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043853032","display_name":"Shigeki Nakaura","orcid":null},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Nakaura","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054252577","display_name":"Mitsuji Sampei","orcid":"https://orcid.org/0000-0002-3478-8399"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuji Sampei","raw_affiliation_strings":["Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Control Engineering, Tokyo Institute of Technology, Japan","institution_ids":["https://openalex.org/I114531698"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5074569398"],"corresponding_institution_ids":["https://openalex.org/I114531698"],"apc_list":null,"apc_paid":null,"fwci":0.2611,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.62697423,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5131","last_page":"5137"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9970999956130981,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9593999981880188,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9222926497459412},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.7014333009719849},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5905898809432983},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5395625829696655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4745776653289795},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4730348289012909},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4651049077510834},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4371647238731384},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4252975285053253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4243243932723999},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4131726026535034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37469372153282166},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33271175622940063},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30276501178741455},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28199514746665955}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9222926497459412},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.7014333009719849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5905898809432983},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5395625829696655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4745776653289795},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4730348289012909},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4651049077510834},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4371647238731384},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4252975285053253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4243243932723999},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4131726026535034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37469372153282166},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33271175622940063},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30276501178741455},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28199514746665955},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2007.4434991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2007.4434991","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 46th IEEE Conference on Decision and Control","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":14,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1990705672","https://openalex.org/W1995551113","https://openalex.org/W2092535029","https://openalex.org/W2101959596","https://openalex.org/W2121863487","https://openalex.org/W2128131727","https://openalex.org/W2149224990","https://openalex.org/W2161427949","https://openalex.org/W2162650699","https://openalex.org/W4214717370","https://openalex.org/W4285719527","https://openalex.org/W6633694296","https://openalex.org/W6677916085"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W1532965292","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2541058374","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W1532677580"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,90],"control":[4,24,64,135],"structure":[5],"for":[6],"humanoid":[7,45,72,86,109,124],"runner":[8],"which":[9,63],"is":[10,26,34,95,120],"using":[11,28,133],"Q-learning":[12,32],"and":[13,68,83,107],"Output":[14,29],"Zeroing.":[15,30],"Based":[16],"on":[17,104],"this":[18],"structure,":[19],"the":[20,53,61,65,80],"sagittal":[21],"plane":[22],"motion":[23],"algorithm":[25,33],"formulated":[27],"And":[31],"used":[35],"to":[36,58],"learn":[37],"key":[38,98],"parameters":[39,54,62,99],"of":[40,55,71,78,85,92,100],"output":[41,56,101],"function":[42,57,102],"so":[43],"that":[44,97,108,123],"robot":[46,110,125],"can":[47,111,126],"achieve":[48],"desired":[49],"running":[50,81,114,129],"motion.":[51],"For":[52,75],"be":[59],"learned,":[60],"hip":[66],"trajectory":[67],"torso":[69],"angle":[70],"are":[73,87],"selected.":[74],"an":[76],"evaluation":[77],"learning,":[79,93],"speed":[82],"stride":[84],"used.":[88],"As":[89],"result":[91],"it":[94,119],"confirmed":[96],"converge":[103],"constant":[105],"value":[106],"realize":[112,127],"continuous":[113,128],"in":[115],"numerical":[116],"simulation.":[117],"Besides":[118],"also":[121],"verified":[122],"at":[130],"uneven":[131],"terrain":[132],"similar":[134],"structure.":[136]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
