{"id":"https://openalex.org/W1980160418","doi":"https://doi.org/10.1109/humanoids.2012.6651601","title":"Balance control based on Capture Point error compensation for biped walking on uneven terrain","display_name":"Balance control based on Capture Point error compensation for biped walking on uneven terrain","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W1980160418","doi":"https://doi.org/10.1109/humanoids.2012.6651601","mag":"1980160418"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","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/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuuji Kajita","raw_affiliation_strings":["Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Kaneko","raw_affiliation_strings":["Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109094932","display_name":"Kanako Miura","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanako Miura","raw_affiliation_strings":["Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057476470","display_name":"Kazuhito Yokoi","orcid":"https://orcid.org/0000-0003-3942-2027"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuhiro Yokoi","raw_affiliation_strings":["Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology, Umezono, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Res. Inst. of Intell. Syst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5014473932"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":3.8323,"has_fulltext":false,"cited_by_count":97,"citation_normalized_percentile":{"value":0.93123486,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"734","last_page":"740"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9868999719619751,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.941100001335144,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8048712015151978},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7071874737739563},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5969506502151489},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5731605291366577},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5212845802307129},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.5158542990684509},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.5062607526779175},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5030426383018494},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.43799346685409546},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.4322337508201599},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.35995298624038696},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25479912757873535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21487140655517578},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11162891983985901},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06379231810569763}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8048712015151978},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7071874737739563},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5969506502151489},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5731605291366577},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5212845802307129},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.5158542990684509},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.5062607526779175},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5030426383018494},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.43799346685409546},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.4322337508201599},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.35995298624038696},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25479912757873535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21487140655517578},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11162891983985901},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06379231810569763},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311508","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W2095192936","https://openalex.org/W2099129715","https://openalex.org/W2113394636","https://openalex.org/W2118840382","https://openalex.org/W2120435658","https://openalex.org/W2129151256","https://openalex.org/W2130117525","https://openalex.org/W2137300190","https://openalex.org/W2159541442","https://openalex.org/W2166162370","https://openalex.org/W2539534359","https://openalex.org/W3145941942","https://openalex.org/W6680585183"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786","https://openalex.org/W2220923292"],"abstract_inverted_index":{"This":[0],"paper":[1],"tries":[2],"to":[3,25,54,64],"improve":[4],"a":[5,46,66,90],"balance":[6,21,42,80],"control":[7],"based":[8],"on":[9],"the":[10,16,19,28,31,37,41,51,55,58,71,74,78],"Capture":[11],"Point":[12],"(CP)":[13],"control.":[14],"First":[15],"characteristics":[17],"of":[18,40,70,77],"conventional":[20],"controller":[22,81],"are":[23],"shown":[24],"be":[26],"essentially":[27],"same":[29],"as":[30],"CP":[32,52,56,72],"controller.":[33,43],"Then":[34],"we":[35],"analyze":[36],"transfer":[38],"function":[39],"We":[44],"introduce":[45],"new":[47],"state":[48],"variable":[49],"with":[50,89],"integration":[53],"and":[57,73,87],"ZMP":[59],"(Zero-Moment":[60],"Point)":[61],"in":[62],"order":[63],"trim":[65],"long":[67],"term":[68],"offset":[69],"ZMP.":[75],"Verification":[76],"proposed":[79],"is":[82],"conducted":[83],"through":[84],"both":[85],"simulation":[86],"experiments":[88],"humanoid":[91],"robot":[92],"HRP-2[11].":[93]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":10},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
