{"id":"https://openalex.org/W2784152497","doi":"https://doi.org/10.1109/humanoids.2017.8246898","title":"Trajectory optimization of humanoid robots swinging leg","display_name":"Trajectory optimization of humanoid robots swinging leg","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2784152497","doi":"https://doi.org/10.1109/humanoids.2017.8246898","mag":"2784152497"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (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/A5101637721","display_name":"Zhou Luo","orcid":"https://orcid.org/0009-0007-0455-8086"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhou Luo","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Ministry of Education, Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073785112","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0002-5455-9454"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Ministry of Education, Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048381186","display_name":"Libo Meng","orcid":"https://orcid.org/0000-0001-9980-3054"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Meng","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100411172","display_name":"Qingqing Li","orcid":"https://orcid.org/0000-0002-9888-4160"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qingqing Li","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340717","display_name":"Weimin Zhang","orcid":"https://orcid.org/0000-0001-6632-0144"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["Ministry of Education, International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101976110","display_name":"Wenjuan Guo","orcid":"https://orcid.org/0000-0001-5761-3199"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjuan Guo","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084234078","display_name":"Aiguo Ming","orcid":"https://orcid.org/0000-0003-2961-0884"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Ming","raw_affiliation_strings":["Ministry of Education, International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, International Joint Research Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology), Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2625,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.58117353,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"359","last_page":"364"},"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":0.9750999808311462,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9333999752998352,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/control-theory","display_name":"Control theory (sociology)","score":0.7852785587310791},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.684789776802063},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6475486159324646},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6317241191864014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.57138991355896},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5690721869468689},{"id":"https://openalex.org/keywords/gauss-pseudospectral-method","display_name":"Gauss pseudospectral method","score":0.5595777630805969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5117537975311279},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5073067545890808},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.44978439807891846},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.446664422750473},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.44217705726623535},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.4206765294075012},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4192041754722595},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25735020637512207},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2493113875389099},{"id":"https://openalex.org/keywords/pseudo-spectral-method","display_name":"Pseudo-spectral method","score":0.21395191550254822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20446565747261047},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.20349863171577454},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1309579610824585},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09448772668838501}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7852785587310791},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.684789776802063},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6475486159324646},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6317241191864014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.57138991355896},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5690721869468689},{"id":"https://openalex.org/C71026131","wikidata":"https://www.wikidata.org/wiki/Q5527825","display_name":"Gauss pseudospectral method","level":5,"score":0.5595777630805969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5117537975311279},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5073067545890808},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.44978439807891846},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.446664422750473},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.44217705726623535},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.4206765294075012},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4192041754722595},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25735020637512207},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2493113875389099},{"id":"https://openalex.org/C177937620","wikidata":"https://www.wikidata.org/wiki/Q7254447","display_name":"Pseudo-spectral method","level":4,"score":0.21395191550254822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20446565747261047},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.20349863171577454},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1309579610824585},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09448772668838501},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C203024314","wikidata":"https://www.wikidata.org/wiki/Q1365258","display_name":"Fourier analysis","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C102519508","wikidata":"https://www.wikidata.org/wiki/Q6520159","display_name":"Fourier transform","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8246898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1506266328","https://openalex.org/W1986651380","https://openalex.org/W2012171914","https://openalex.org/W2035757418","https://openalex.org/W2080421646","https://openalex.org/W2138671676","https://openalex.org/W2146215813","https://openalex.org/W2155625664","https://openalex.org/W2462722718","https://openalex.org/W2517750521","https://openalex.org/W2563923653"],"related_works":["https://openalex.org/W2372608005","https://openalex.org/W2030954493","https://openalex.org/W1600119608","https://openalex.org/W2171384952","https://openalex.org/W1905964651","https://openalex.org/W3005220537","https://openalex.org/W2032378738","https://openalex.org/W2516757249","https://openalex.org/W2359296948","https://openalex.org/W3148257543"],"abstract_inverted_index":{"Increased":[0],"walking":[1,104],"stability":[2],"and":[3,41,100,113,124,153],"energy":[4],"efficiency":[5],"are":[6],"both":[7,97],"important":[8],"factors":[9],"for":[10,69],"enhancement":[11],"of":[12,15,37,45,51,71,74,117,138,145],"the":[13,25,38,42,46,72,98,103,111,114,118,131,136,139,146],"performance":[14],"a":[16,67,75,84,91,126,128],"biped":[17,76],"robot.":[18],"However,":[19],"it":[20],"is":[21,30,54,81,149],"difficult":[22],"to":[23,58,95,110],"derive":[24],"optimal":[26,33,61],"control":[27,34,62],"law":[28],"that":[29,80],"required":[31],"using":[32],"theory":[35],"because":[36],"strong":[39,43],"nonlinearity":[40],"coupling":[44],"robot":[47],"dynamics":[48],"equation.":[49],"Use":[50],"numerical":[52],"methods":[53],"one":[55],"effective":[56],"way":[57],"design":[59],"an":[60],"law.":[63],"This":[64],"paper":[65],"presents":[66],"method":[68,148],"optimization":[70,93,116],"trajectory":[73],"robot's":[77],"swinging":[78],"leg":[79],"based":[82],"on":[83],"Gaussian":[85],"pseudospectral":[86],"method.":[87],"We":[88],"first":[89],"establish":[90],"Lagrange":[92],"function":[94],"optimize":[96],"torque":[99,112],"speed":[101],"during":[102],"process.":[105],"By":[106],"giving":[107],"different":[108,119],"weights":[109],"speed,":[115],"targets":[120],"can":[121,133],"be":[122],"realized,":[123],"as":[125],"result,":[127],"reduction":[129],"in":[130],"velocity":[132],"also":[134],"change":[135],"amplitude":[137],"joint":[140],"motion":[141],"fluctuations.":[142],"The":[143],"effectiveness":[144],"proposed":[147],"demonstrated":[150],"via":[151],"simulations":[152],"Experiments.":[154]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}