{"id":"https://openalex.org/W2049619022","doi":"https://doi.org/10.1109/humanoids.2014.7041463","title":"Bio-inspired falling motion control for a biped humanoid robot","display_name":"Bio-inspired falling motion control for a biped humanoid robot","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2049619022","doi":"https://doi.org/10.1109/humanoids.2014.7041463","mag":"2049619022"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5111847058","display_name":"Gan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Gan Ma","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"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"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Humanoid Robotics Institute, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Humanoid Robotics Institute, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108502922","display_name":"Yun-Hui Liu","orcid":"https://orcid.org/0009-0006-3337-0886"},"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"]},{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun-Hui Liu","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","The Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"The Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5111847058"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":1.66862249,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.83411028,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"850","last_page":"855"},"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":0.9973000288009644,"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":0.9902999997138977,"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/torso","display_name":"Torso","score":0.8864336013793945},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7963559031486511},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.7597076296806335},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5818684101104736},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5799006819725037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5661270022392273},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.490444153547287},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4503147602081299},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3293142020702362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3105543255805969},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26067423820495605},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2530621290206909}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.8864336013793945},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7963559031486511},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.7597076296806335},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5818684101104736},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5799006819725037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5661270022392273},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.490444153547287},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4503147602081299},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3293142020702362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3105543255805969},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26067423820495605},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2530621290206909},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041463","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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":19,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1987580649","https://openalex.org/W1994079251","https://openalex.org/W2030263633","https://openalex.org/W2036188855","https://openalex.org/W2042565362","https://openalex.org/W2089258758","https://openalex.org/W2092925672","https://openalex.org/W2096461010","https://openalex.org/W2108411677","https://openalex.org/W2120553010","https://openalex.org/W2150724993","https://openalex.org/W2153140225","https://openalex.org/W2154561322","https://openalex.org/W2540665398","https://openalex.org/W2545906379","https://openalex.org/W6648515476","https://openalex.org/W6673249998","https://openalex.org/W6728995022"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W815011690","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2402151266","https://openalex.org/W1593091151"],"abstract_inverted_index":{"Although":[0],"consistent":[1],"stability":[2],"is":[3,68,113,140],"desirable,":[4],"a":[5,10,105,109,134],"biped":[6],"humanoid":[7,111],"robot":[8,24,77,94,112],"encounters":[9],"high":[11],"risk":[12],"of":[13,61,75,92,101,119],"falling.":[14],"Such":[15],"falls":[16],"may":[17],"cause":[18],"serious":[19],"damage":[20],"to":[21,84,115],"both":[22],"the":[23,26,59,62,65,76,90,93,98,102,117,120,128],"and":[25,34,55,142],"environment.":[27],"This":[28],"study":[29,107],"focuses":[30],"on":[31,39,108,122,127],"this":[32],"issue":[33],"investigates":[35],"four":[36,80],"strategies":[37,45,63,81,121],"based":[38,126],"human":[40],"protective":[41],"falling":[42,136],"motion.":[43],"These":[44],"are:":[46],"\"knee":[47,56],"flexion\",":[48],"\"torso":[49,52],"flexion":[50],"forward\",":[51],"translation":[53],"backward\"":[54],"stretched\".":[57],"First,":[58],"effectiveness":[60],"for":[64,131],"safe":[66,123,135],"landing":[67],"analyzed":[69],"from":[70],"an":[71],"energy":[72,91],"variation":[73],"perspective":[74],"system.":[78],"The":[79],"are":[82],"used":[83],"do":[85],"negative":[86],"work":[87],"that":[88],"reduced":[89],"system,":[95],"thereby":[96],"reducing":[97],"impact":[99],"velocity":[100],"robot.":[103],"Then,":[104],"simulation":[106,129],"human-sized":[110],"conducted":[114],"assess":[116],"influence":[118],"landing.":[124],"Finally,":[125],"results":[130],"each":[132],"strategy,":[133],"motion":[137],"control":[138],"method":[139],"proposed":[141],"validated":[143],"through":[144],"simulation.":[145]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
