{"id":"https://openalex.org/W2907358626","doi":"https://doi.org/10.1109/icarcv.2018.8580633","title":"Center of Mass based Walking Pattern Generator with Gravity Compensation for Walking Control on Bioloid Humanoid Robot","display_name":"Center of Mass based Walking Pattern Generator with Gravity Compensation for Walking Control on Bioloid Humanoid Robot","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2907358626","doi":"https://doi.org/10.1109/icarcv.2018.8580633","mag":"2907358626"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8580633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8580633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5009306142","display_name":"Riyanto Riyanto","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Riyanto","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108260764","display_name":"Widyawardana Adiprawita","orcid":"https://orcid.org/0000-0001-9123-1549"},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Widyawardana Adiprawita","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028577328","display_name":"Hilwadi Hindersah","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Hilwadi Hindersah","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057802496","display_name":"Carmadi Machbub","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Carmadi Machbub","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134635517"],"apc_list":null,"apc_paid":null,"fwci":0.446,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.63068304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"43","issue":null,"first_page":"54","last_page":"59"},"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":0.9976000189781189,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9642000198364258,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6765432953834534},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.6440309882164001},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6344530582427979},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5499545335769653},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5299859046936035},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5183142423629761},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.5076955556869507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48692190647125244},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.46392568945884705},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44664767384529114},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4303600788116455},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.4148407578468323},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.40541771054267883},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39011430740356445},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37270140647888184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36681854724884033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28756654262542725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07402214407920837}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6765432953834534},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.6440309882164001},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6344530582427979},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5499545335769653},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5299859046936035},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5183142423629761},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.5076955556869507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48692190647125244},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.46392568945884705},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44664767384529114},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4303600788116455},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.4148407578468323},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.40541771054267883},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39011430740356445},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37270140647888184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36681854724884033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28756654262542725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07402214407920837},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","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},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2018.8580633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8580633","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6600000262260437,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1859914877","https://openalex.org/W1937967612","https://openalex.org/W1967449903","https://openalex.org/W1983935089","https://openalex.org/W2042204524","https://openalex.org/W2112651309","https://openalex.org/W2125393905","https://openalex.org/W2133859362"],"related_works":["https://openalex.org/W4312826882","https://openalex.org/W2160983430","https://openalex.org/W3004220142","https://openalex.org/W4242231179","https://openalex.org/W2140139034","https://openalex.org/W2026970149","https://openalex.org/W3095753878","https://openalex.org/W4383109116","https://openalex.org/W4285332827","https://openalex.org/W2171368057"],"abstract_inverted_index":{"This":[0],"research":[1],"discusses":[2],"the":[3,15,23,26,29,32,37,40,47,62,70,73,84,96,103,110,115,119,134,151,154,170,177,184,188,192],"development":[4],"of":[5,9,25,31,39,43,55,72,86,89,105,137,172,191,200],"simulation":[6,93,106],"and":[7,18,28,64,95,145,166,180,187],"generator":[8,98],"bipedal":[10],"robot":[11,33,41,49,53,74,90,143,147,156,196],"walking":[12,159],"pattern":[13],"on":[14,163],"sagittal,":[16],"frontal":[17],"transversal":[19],"planes":[20],"by":[21],"setting":[22],"trajectory":[24],"sole":[27],"pelvis":[30],"with":[34,77,109],"respect":[35],"to":[36,46,59,132,176],"position":[38,136],"center":[42,54],"mass":[44,56],"changes":[45],"biped":[48],"support":[50],"polygon.":[51],"The":[52,92,195],"is":[57,67,75,114],"assumed":[58],"lie":[60],"in":[61,83,102],"pelvis,":[63],"an":[65,78],"adjustment":[66],"made":[68,82],"when":[69],"structure":[71],"reconstructed":[76,120],"additional":[79],"load.":[80],"Adjustments":[81],"form":[85,104],"converting":[87],"angle":[88],"torso.":[91],"program":[94,129],"motion":[97,160],"run":[99],"out":[100],"data-driven":[101,152],"data":[107,112],"along":[108],"correction":[111],"which":[113],"gravity":[116],"compensation":[117],"for":[118,127],"humanoid":[121],"Bioloid":[122,155],"robot.":[123],"Data-driven":[124],"becomes":[125],"input":[126],"RoboPlus":[128],"from":[130],"Robotis":[131],"adjust":[133],"angular":[135],"each":[138],"joint,":[139],"joint":[140],"rotation":[141],"speed,":[142],"posture,":[144],"static":[146],"balance":[148],"control.":[149],"With":[150],"given,":[153],"can":[157],"achieve":[158],"without":[161,169,181],"falling":[162],"a":[164,173,198],"flat":[165],"even":[167],"floor":[168],"overlap":[171],"swinging":[174],"foot":[175],"stance":[178],"foot,":[179],"significantly":[182],"affecting":[183],"step":[185,189],"length":[186],"height":[190],"initial":[193],"planning.":[194],"reaches":[197],"speed":[199],"0.423":[201],"m/s.":[202]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}