{"id":"https://openalex.org/W2121457380","doi":"https://doi.org/10.1109/icarcv.2010.5707828","title":"Trajectory generation of straightened knee walking for humanoid robot iCub","display_name":"Trajectory generation of straightened knee walking for humanoid robot iCub","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2121457380","doi":"https://doi.org/10.1109/icarcv.2010.5707828","mag":"2121457380"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2010.5707828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2010.5707828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th International Conference on Control Automation Robotics & Vision","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/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","[Department of Advanced Robotics, Italian Institute of Technology, Genova, Italy]"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Department of Advanced Robotics, Italian Institute of Technology, Genova, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077105920","display_name":"Nikos G. Tsagarikis","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarikis","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","[Department of Advanced Robotics, Italian Institute of Technology, Genova, Italy]"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Department of Advanced Robotics, Italian Institute of Technology, Genova, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","[Department of Advanced Robotics, Italian Institute of Technology, Genova, Italy]"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Department of Advanced Robotics, Italian Institute of Technology, Genova, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010914606","display_name":"Bram Vanderborght","orcid":"https://orcid.org/0000-0003-4881-9341"},"institutions":[{"id":"https://openalex.org/I13469542","display_name":"Vrije Universiteit Brussel","ror":"https://ror.org/006e5kg04","country_code":"BE","type":"education","lineage":["https://openalex.org/I13469542"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Bram Vanderborght","raw_affiliation_strings":["Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","Department of Mechanical Engineering , Vrije Universiteit Brussel , Brussels, Belgium"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vrije Universiteit Brussel, Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Vrije Universiteit Brussel , Brussels, Belgium","institution_ids":["https://openalex.org/I13469542"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100351560"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":1.3045,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.81078561,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2355","last_page":"2360"},"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":0.9947999715805054,"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":0.9575999975204468,"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/icub","display_name":"iCub","score":0.8909975290298462},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.821427583694458},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5794041156768799},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5481815338134766},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5447226166725159},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5259528160095215},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.432503879070282},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.42214563488960266},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34460175037384033},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33939024806022644},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.20790931582450867},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1712481677532196},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16120779514312744},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10448390245437622}],"concepts":[{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.8909975290298462},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.821427583694458},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5794041156768799},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5481815338134766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5447226166725159},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5259528160095215},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.432503879070282},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.42214563488960266},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34460175037384033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33939024806022644},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.20790931582450867},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1712481677532196},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16120779514312744},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10448390245437622},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icarcv.2010.5707828","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2010.5707828","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 11th International Conference on Control Automation Robotics & Vision","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.464.2419","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.464.2419","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.amarsi-project.eu/sites/www.amarsi-project.eu/files/ICARCV 2010 Trajectory Generation of Straightened Knee Walking for Humanoid Robot iCub.pdf","raw_type":"text"},{"id":"pmh:oai:vubissmart:VUBISSMART:2000:65436","is_oa":false,"landing_page_url":"https://biblio.vub.ac.be/vubir/trajectory-generation-of-straightened-knee-walking-for-humanoid-robot-icub(8c9f5857-5e75-4eee-ae59-fe54efbcb346).html","pdf_url":null,"source":{"id":"https://openalex.org/S4306402573","display_name":"VUBIR (Vrije Universiteit Brussel)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I13469542","host_organization_name":"Vrije Universiteit Brussel","host_organization_lineage":["https://openalex.org/I13469542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1482992573","https://openalex.org/W1536647690","https://openalex.org/W1559393815","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2037729465","https://openalex.org/W2070507784","https://openalex.org/W2088677124","https://openalex.org/W2101226662","https://openalex.org/W2107063340","https://openalex.org/W2110252499","https://openalex.org/W2111964675","https://openalex.org/W2120420464","https://openalex.org/W2133859362","https://openalex.org/W2153809618","https://openalex.org/W2170519810","https://openalex.org/W2329935811","https://openalex.org/W2983916874","https://openalex.org/W4247710350","https://openalex.org/W6633631806","https://openalex.org/W6676628439"],"related_works":["https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W4301244418","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2026275902"],"abstract_inverted_index":{"Most":[0],"humanoid":[1,128],"robots":[2],"walk":[3],"with":[4,149],"bent":[5],"knees,":[6],"which":[7,34,70],"particularly":[8],"requires":[9],"high":[10],"motor":[11],"torques":[12,140],"at":[13],"knees":[14],"and":[15,39,82],"gives":[16],"an":[17],"unnatural":[18],"walking":[19,123],"manner.":[20],"It":[21],"is":[22,35,99],"therefore":[23],"essential":[24],"to":[25,42],"design":[26],"a":[27,32,105],"control":[28],"method":[29],"that":[30],"produces":[31],"motion":[33,75],"more":[36],"energy":[37],"efficient":[38],"natural":[40],"comparable":[41],"those":[43],"performed":[44],"by":[45,54,142,153],"humans.":[46],"In":[47],"this":[48,52,96],"paper,":[49],"we":[50],"address":[51],"issue":[53],"modeling":[55],"the":[56,61,67,72,77,83,88,126,131,135,143,150,154],"virtual":[57,84],"spring-damper":[58,85],"based":[59],"on":[60],"cart-table":[62,155],"model.":[63,108,156],"This":[64],"strategy":[65,98,145],"utilizes":[66],"preview":[68],"control,":[69],"generates":[71],"desired":[73],"horizontal":[74],"of":[76,79,95,104,125],"center":[78],"mass":[80],"(COM),":[81],"for":[86],"generating":[87],"vertical":[89],"COM":[90,117],"motion.":[91],"The":[92,121,138],"theoretical":[93],"feasibility":[94],"hybrid":[97],"demonstrated":[100],"in":[101,130],"Matlab":[102],"simulation":[103],"multi-body":[106],"bipedal":[107],"Knee":[109],"joint":[110,139],"patterns,":[111,116],"ground":[112],"reaction":[113],"force":[114],"(GRF)":[115],"trajectories":[118],"are":[119,146],"presented.":[120],"successful":[122],"gaits":[124],"child":[127],"\"iCub\"":[129],"dynamic":[132],"simulator":[133],"validate":[134],"proposed":[136,144],"scheme.":[137],"required":[141,152],"reduced,":[147],"compared":[148],"one":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}