{"id":"https://openalex.org/W1986032242","doi":"https://doi.org/10.1109/humanoids.2013.7030025","title":"Arbitrary biped robot foot gaiting based on variate COM height","display_name":"Arbitrary biped robot foot gaiting based on variate COM height","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W1986032242","doi":"https://doi.org/10.1109/humanoids.2013.7030025","mag":"1986032242"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2013.7030025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7030025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","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/A5113503581","display_name":"Ren C. Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Ren C. Luo","raw_affiliation_strings":["Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077711291","display_name":"Po-Hsuan Chang","orcid":"https://orcid.org/0000-0002-2232-3738"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Peng Hsi Chang","raw_affiliation_strings":["Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111851317","display_name":"Jun Sheng","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jun Sheng","raw_affiliation_strings":["Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109962555","display_name":"Shao Cheng Gu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Shao Cheng Gu","raw_affiliation_strings":["Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113531904","display_name":"Chun-Hung Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chun Hung Chen","raw_affiliation_strings":["Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Electrical Engineering Department, National Taiwan University, No. 1, Sec. 4, Roosevelt Road, Taipei, Taiwan 106","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5113503581"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.7994,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72097326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"534","last_page":"539"},"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":0.9932000041007996,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.8439847230911255},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7561734914779663},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7412972450256348},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6918758153915405},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5843156576156616},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5323142409324646},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5261185765266418},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4161868691444397},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.26923778653144836},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17958661913871765},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16798368096351624}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8439847230911255},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7561734914779663},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7412972450256348},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6918758153915405},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5843156576156616},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5323142409324646},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5261185765266418},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4161868691444397},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.26923778653144836},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17958661913871765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16798368096351624},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/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/humanoids.2013.7030025","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2013.7030025","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W2011604013","https://openalex.org/W2037729465","https://openalex.org/W2043475156","https://openalex.org/W2080421646","https://openalex.org/W2116310395","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2142132924","https://openalex.org/W2143613605"],"related_works":["https://openalex.org/W2138228021","https://openalex.org/W2259616189","https://openalex.org/W2373921823","https://openalex.org/W2331332883","https://openalex.org/W1987749388","https://openalex.org/W2350782179","https://openalex.org/W2162913358","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2018658498"],"abstract_inverted_index":{"In":[0,44],"this":[1,63],"paper,":[2],"we":[3],"proposes":[4],"an":[5],"approach":[6],"to":[7,46,68,142],"generate":[8,69],"arbitrary":[9,25],"quasi-natural":[10],"foot":[11,26],"gait":[12,27],"for":[13],"the":[14,52,92,98,103,107,112,136,139,147,168],"walking":[15,53],"biped":[16,172],"robot":[17,173],"with":[18,41,82],"variate":[19,58],"COM":[20,60,86,137,156],"height":[21,59,87],"preview":[22,74,80],"control.":[23,75],"The":[24,131],"planning":[28],"is":[29,55,89,95,116,119,159,165],"generated":[30],"by":[31],"zero":[32],"moment":[33],"point":[34,141],"(ZMP)":[35],"mapping":[36],"method":[37,64],"and":[38,126,161],"a":[39,122,127,144],"curve":[40],"certain":[42],"radius.":[43],"order":[45],"walk":[47],"smoothly":[48],"in":[49,57,167,175],"turning":[50],"gait,":[51],"pattern":[54],"designed":[56],"motion.":[61],"However,":[62],"consumes":[65],"more":[66],"time":[67,78],"trajectory":[70,88,164],"based":[71],"on":[72,102],"conventional":[73],"To":[76],"reduce":[77],"consumption,":[79],"control":[81,114],"particular":[83],"design":[84],"of":[85,121,146,149],"proposed.":[90],"Furthermore,":[91],"dynamic":[93,110],"model":[94],"investigated":[96],"considering":[97],"contact":[99],"force":[100,113,129,133],"applied":[101],"system.":[104],"By":[105],"using":[106,171],"full":[108],"body":[109],"model,":[111],"architecture":[115],"developed,":[117],"which":[118],"comprised":[120],"local":[123],"joint":[124],"controller":[125,134],"feedback":[128,132],"controller.":[130],"takes":[135],"as":[138],"operating":[140],"achieve":[143],"compensation":[145],"motion":[148],"COM.":[150],"We":[151],"have":[152],"experimentally":[153],"demonstrated":[154],"that":[155],"tracking":[157],"performance":[158],"improved":[160],"actual":[162],"ZMP":[163],"stabilized":[166],"safety":[169],"region":[170],"developed":[174],"our":[176],"Lab.":[177]},"counts_by_year":[{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
