{"id":"https://openalex.org/W2169298107","doi":"https://doi.org/10.1109/cec.2008.4630835","title":"Evolutionary optimization of a bipedal gait in a physical robot","display_name":"Evolutionary optimization of a bipedal gait in a physical robot","publication_year":2008,"publication_date":"2008-06-01","ids":{"openalex":"https://openalex.org/W2169298107","doi":"https://doi.org/10.1109/cec.2008.4630835","mag":"2169298107"},"language":"en","primary_location":{"id":"doi:10.1109/cec.2008.4630835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2008.4630835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence)","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/A5103081845","display_name":"Krister Wolff","orcid":"https://orcid.org/0000-0002-3499-1813"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Krister Wolff","raw_affiliation_strings":["Department of Applied Mechanics, Chalmers University of Technology, Goteborg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018363666","display_name":"David Sandberg","orcid":null},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"David Sandberg","raw_affiliation_strings":["Department of Applied Mechanics, Chalmers University of Technology, Goteborg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028236337","display_name":"Mattias Wahde","orcid":"https://orcid.org/0000-0001-6679-637X"},"institutions":[{"id":"https://openalex.org/I66862912","display_name":"Chalmers University of Technology","ror":"https://ror.org/040wg7k59","country_code":"SE","type":"education","lineage":["https://openalex.org/I66862912"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Mattias Wahde","raw_affiliation_strings":["Department of Applied Mechanics, Chalmers University of Technology, Goteborg, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Applied Mechanics, Chalmers University of Technology, Goteborg, Sweden","institution_ids":["https://openalex.org/I66862912"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5007,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83294551,"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":"440","last_page":"445"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9829000234603882,"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"}},{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9731000065803528,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7061641216278076},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6212034225463867},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.598848819732666},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5213143229484558},{"id":"https://openalex.org/keywords/population","display_name":"Population","score":0.5177994966506958},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.45704323053359985},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.442476749420166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42781010270118713},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38079720735549927},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33098119497299194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22346803545951843},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14942225813865662},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09215208888053894},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.060205042362213135}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7061641216278076},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6212034225463867},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.598848819732666},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5213143229484558},{"id":"https://openalex.org/C2908647359","wikidata":"https://www.wikidata.org/wiki/Q2625603","display_name":"Population","level":2,"score":0.5177994966506958},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.45704323053359985},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.442476749420166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42781010270118713},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38079720735549927},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33098119497299194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22346803545951843},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14942225813865662},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09215208888053894},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.060205042362213135},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cec.2008.4630835","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2008.4630835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Congress on Evolutionary Computation (IEEE World Congress on Computational Intelligence)","raw_type":"proceedings-article"},{"id":"pmh:oai:publications.lib.chalmers.se:72875","is_oa":false,"landing_page_url":"http://publications.lib.chalmers.se/publication/72875-evolutionary-optimization-of-a-bipedal-gait-in-a-physical-robot","pdf_url":null,"source":{"id":"https://openalex.org/S4377196470","display_name":"Chalmers Publication Library (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text.Article.Conference.PeerReviewed"},{"id":"pmh:oai:research.chalmers.se:72875","is_oa":false,"landing_page_url":"https://research.chalmers.se/en/publication/72875","pdf_url":null,"source":{"id":"https://openalex.org/S4306402469","display_name":"Chalmers Research (Chalmers University of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I66862912","host_organization_name":"Chalmers University of Technology","host_organization_lineage":["https://openalex.org/I66862912"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1515119191","https://openalex.org/W1990060767","https://openalex.org/W2021512411","https://openalex.org/W2031417054","https://openalex.org/W2078594777","https://openalex.org/W2094241130","https://openalex.org/W2148252212","https://openalex.org/W2149567280","https://openalex.org/W2168661995","https://openalex.org/W2332920146","https://openalex.org/W4285719527","https://openalex.org/W6630852831","https://openalex.org/W6658238128","https://openalex.org/W6682040001","https://openalex.org/W6685050415"],"related_works":["https://openalex.org/W3212452115","https://openalex.org/W3010785941","https://openalex.org/W161140803","https://openalex.org/W3128994229","https://openalex.org/W4288826037","https://openalex.org/W773359236","https://openalex.org/W2790777777","https://openalex.org/W3011806615","https://openalex.org/W4220712836","https://openalex.org/W1897438399"],"abstract_inverted_index":{"Evolutionary":[0],"optimization":[1,87],"of":[2,17,39,53,56,91,138,167],"a":[3,6,30,50,54,101,139,147],"gait":[4,51,79,99],"for":[5,21,63,72,85,108],"bipedal":[7],"robot":[8],"has":[9],"been":[10],"studied,":[11],"combining":[12],"structural":[13,144],"and":[14,142],"parametric":[15,132],"modifications":[16],"the":[18,23,44,64,73,86,97,114,135],"system":[19],"responsible":[20],"generating":[22],"gait.":[24],"The":[25,157],"experiment":[26],"was":[27,80,94,106],"conducted":[28],"using":[29,96,121],"small":[31],"17":[32,40],"DOF":[33],"humanoid":[34],"robot,":[35],"whose":[36],"actuators":[37],"consist":[38],"servo":[41,65],"motors.":[42],"In":[43],"approach":[45],"presented":[46],"here,":[47],"individuals":[48,93,112,118],"representing":[49],"consisted":[52],"sequence":[55],"set":[57],"angles":[58],"(referred":[59],"to":[60],"as":[61,67,69,82,100],"states)":[62],"motors,":[66],"well":[68],"ramping":[70],"times":[71],"transition":[74],"between":[75,150],"states.":[76],"A":[77,89],"hand-coded":[78,98],"used":[81],"starting":[83],"point":[84],"procedure:":[88],"population":[90],"30":[92,109],"formed,":[95],"seed.":[102],"An":[103],"evolutionary":[104],"procedure":[105],"executed":[107],"generations,":[110],"evaluating":[111],"on":[113],"physical":[115],"robot.":[116],"New":[117],"were":[119,125],"generated":[120],"mutation":[122,128],"only.":[123],"There":[124],"two":[126,151],"different":[127],"operators,":[129],"namely":[130],"(1)":[131],"mutations":[133,145],"modifying":[134],"actual":[136],"values":[137],"given":[140],"state,":[141],"(2)":[143],"inserting":[146],"new":[148],"state":[149],"consecutive":[152],"states":[153],"in":[154,164],"an":[155,162],"individual.":[156],"best":[158],"evolved":[159],"individual":[160],"showed":[161],"improvement":[163],"walking":[165],"speed":[166],"approximately":[168],"65%.":[169]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
