{"id":"https://openalex.org/W3206538361","doi":"https://doi.org/10.1109/humanoids47582.2021.9555786","title":"A HZD-based Framework for the Real-time, Optimization-free Enforcement of Gait Feasibility Constraints","display_name":"A HZD-based Framework for the Real-time, Optimization-free Enforcement of Gait Feasibility Constraints","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3206538361","doi":"https://doi.org/10.1109/humanoids47582.2021.9555786","mag":"3206538361"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5091015749","display_name":"Pravin Dangol","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pravin Dangol","raw_affiliation_strings":["Northeastern University, Boston, MA, USA","SiliconSynapse Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"SiliconSynapse Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042169675","display_name":"Andrew Lessieur","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Lessieur","raw_affiliation_strings":["Northeastern University, Boston, MA, USA","SiliconSynapse Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"SiliconSynapse Laboratory","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073800169","display_name":"Eric Sihite","orcid":"https://orcid.org/0000-0002-8653-8842"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Sihite","raw_affiliation_strings":["Northeastern University, Boston, MA, USA","SiliconSynapse Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"SiliconSynapse Laboratory","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101945710","display_name":"Alireza Ramezani","orcid":"https://orcid.org/0000-0002-3391-5288"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Ramezani","raw_affiliation_strings":["Northeastern University, Boston, MA, USA","SiliconSynapse Laboratory"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northeastern University, Boston, MA, USA","institution_ids":["https://openalex.org/I12912129"]},{"raw_affiliation_string":"SiliconSynapse Laboratory","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I12912129"],"apc_list":null,"apc_paid":null,"fwci":0.9666,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.72352589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"156","last_page":"162"},"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/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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/gait","display_name":"Gait","score":0.664981484413147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6238634586334229},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.607114851474762},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6064039468765259},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.583293080329895},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48558443784713745},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4444107711315155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22629302740097046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18106809258460999},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12422263622283936},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.07474201917648315}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.664981484413147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6238634586334229},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.607114851474762},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6064039468765259},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.583293080329895},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48558443784713745},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4444107711315155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22629302740097046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18106809258460999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12422263622283936},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.07474201917648315},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"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/humanoids47582.2021.9555786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.5199999809265137,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1507051311","https://openalex.org/W1534166328","https://openalex.org/W1592294156","https://openalex.org/W1832874869","https://openalex.org/W1969366849","https://openalex.org/W1986164962","https://openalex.org/W2032018910","https://openalex.org/W2100186373","https://openalex.org/W2101340954","https://openalex.org/W2291537719","https://openalex.org/W2413990562","https://openalex.org/W2489231587","https://openalex.org/W2513988836","https://openalex.org/W2539534359","https://openalex.org/W2617744508","https://openalex.org/W2909553221","https://openalex.org/W2920812058","https://openalex.org/W3003609907","https://openalex.org/W3019094582","https://openalex.org/W3023846712","https://openalex.org/W3045797187","https://openalex.org/W3153127764","https://openalex.org/W6776575643"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Real-time":[0],"constraint":[1],"satisfaction":[2],"for":[3,19,36,64],"robots":[4],"can":[5,79,90],"be":[6],"quite":[7],"challenging":[8],"due":[9],"to":[10,51,70,75,107],"the":[11,20,99],"high":[12],"computational":[13],"complexity":[14],"that":[15,31,104],"arises":[16],"when":[17],"accounting":[18],"system":[21],"dynamics":[22],"and":[23,66],"environmental":[24],"interactions,":[25],"often":[26],"requiring":[27],"simplification":[28],"in":[29],"modelling":[30],"might":[32],"not":[33],"necessarily":[34],"account":[35],"all":[37],"performance":[38],"criteria.":[39],"We":[40],"instead":[41],"propose":[42],"an":[43],"optimization-free":[44],"approach":[45,89],"where":[46],"reference":[47],"trajectories":[48,71],"are":[49,105],"manipulated":[50],"satisfy":[52],"constraints":[53],"brought":[54],"on":[55],"by":[56,97],"ground":[57],"contact":[58],"as":[59,61],"well":[60],"those":[62],"prescribed":[63],"states":[65],"inputs.":[67],"Unintended":[68],"changes":[69],"especially":[72],"ones":[73],"optimized":[74],"produce":[76],"periodic":[77],"gaits":[78],"adversely":[80],"affect":[81],"gait":[82,96],"stability,":[83],"however":[84],"we":[85],"will":[86],"show":[87],"our":[88,108],"still":[91],"guarantee":[92],"stability":[93],"of":[94,101],"a":[95],"employing":[98],"use":[100],"coaxial":[102],"thrusters":[103],"unique":[106],"robot.":[109]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}