{"id":"https://openalex.org/W2907382857","doi":"https://doi.org/10.1109/icarcv.2018.8581188","title":"Stable Gait Optimization for Small-Sized Humanoid Robot Using CFO","display_name":"Stable Gait Optimization for Small-Sized Humanoid Robot Using CFO","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2907382857","doi":"https://doi.org/10.1109/icarcv.2018.8581188","mag":"2907382857"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8581188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581188","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/A5107520536","display_name":"Tran Thien Huan","orcid":"https://orcid.org/0000-0001-9939-6997"},"institutions":[{"id":"https://openalex.org/I4210148201","display_name":"Ho Chi Minh City University of Technology and Engineering","ror":"https://ror.org/05hzn5427","country_code":"VN","type":"education","lineage":["https://openalex.org/I4210148201"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Tran Thien Huan","raw_affiliation_strings":["Ho Chi Minh City University of Technology and Education, Viet Nam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ho Chi Minh City University of Technology and Education, Viet Nam","institution_ids":["https://openalex.org/I4210148201"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022295509","display_name":"Khuu Bach Thy","orcid":null},"institutions":[{"id":"https://openalex.org/I47265099","display_name":"Ho Chi Minh City University of Technology","ror":"https://ror.org/04qva2324","country_code":"VN","type":"education","lineage":["https://openalex.org/I123565023","https://openalex.org/I47265099"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Khuu Bach Thy","raw_affiliation_strings":["Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology, Viet Nam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology, Viet Nam","institution_ids":["https://openalex.org/I47265099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076534100","display_name":"Nguyen Ho Hieu Trung","orcid":null},"institutions":[{"id":"https://openalex.org/I47265099","display_name":"Ho Chi Minh City University of Technology","ror":"https://ror.org/04qva2324","country_code":"VN","type":"education","lineage":["https://openalex.org/I123565023","https://openalex.org/I47265099"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Nguyen Ho Hieu Trung","raw_affiliation_strings":["Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology, Viet Nam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology, Viet Nam","institution_ids":["https://openalex.org/I47265099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084882423","display_name":"H\u1ed3 Ph\u1ea1m Huy \u00c1nh","orcid":"https://orcid.org/0000-0001-7353-8205"},"institutions":[{"id":"https://openalex.org/I47265099","display_name":"Ho Chi Minh City University of Technology","ror":"https://ror.org/04qva2324","country_code":"VN","type":"education","lineage":["https://openalex.org/I123565023","https://openalex.org/I47265099"]}],"countries":["VN"],"is_corresponding":false,"raw_author_name":"Ho Pham Huy Anh","raw_affiliation_strings":["Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology, Viet Nam"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Electrical and Electronics Engineering (FEEE), Ho Chi Minh City University of Technology, Viet Nam","institution_ids":["https://openalex.org/I47265099"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5575,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.66183946,"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":"436","last_page":"441"},"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":0.9894000291824341,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9526000022888184,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9220117330551147},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7950723171234131},{"id":"https://openalex.org/keywords/differential-evolution","display_name":"Differential evolution","score":0.765613317489624},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7389451265335083},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6805442571640015},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6225063800811768},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.5622823238372803},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.41670647263526917},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3803960978984833},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3586335778236389},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3456727862358093},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25072693824768066},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21323120594024658},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08530008792877197}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9220117330551147},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7950723171234131},{"id":"https://openalex.org/C74750220","wikidata":"https://www.wikidata.org/wiki/Q2662197","display_name":"Differential evolution","level":2,"score":0.765613317489624},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7389451265335083},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6805442571640015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6225063800811768},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.5622823238372803},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.41670647263526917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3803960978984833},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3586335778236389},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3456727862358093},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25072693824768066},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21323120594024658},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08530008792877197},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2018.8581188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581188","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":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W874158704","https://openalex.org/W1497825093","https://openalex.org/W1574829811","https://openalex.org/W1972698868","https://openalex.org/W2041629655","https://openalex.org/W2075374438","https://openalex.org/W2107063340","https://openalex.org/W2127036885","https://openalex.org/W2133859362","https://openalex.org/W2142568566","https://openalex.org/W2156895423","https://openalex.org/W2385903066","https://openalex.org/W4252510982","https://openalex.org/W6629874751","https://openalex.org/W6643375019","https://openalex.org/W6710485974"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2003904901","https://openalex.org/W2767141225"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3],"new":[4],"way":[5],"to":[6,31,36],"optimize":[7,32],"the":[8,33,45,51,72,78],"gait":[9,34,87],"design":[10],"for":[11,88],"human":[12],"robots":[13,90],"that":[14,77],"allows":[15],"stable":[16,86],"stepping":[17],"with":[18,50,91],"preset":[19],"foot-lifting":[20,93],"magnitude.":[21,94],"The":[22,42,65],"novel":[23],"Central":[24],"Force":[25],"Optimization":[26,56],"(CFO)":[27],"algorithm":[28,61,81],"is":[29,48],"used":[30],"parameters":[35],"help":[37],"humanoid":[38,74,89],"robot":[39,75],"walk":[40],"steadily.":[41],"efficiency":[43],"of":[44],"proposed":[46,80],"method":[47],"compared":[49],"GA-Genetic":[52],"Algorithm,":[53],"PSO-Particle":[54],"Swarm":[55],"and":[57,67,85],"improved":[58],"differential":[59],"evolution":[60],"(MDE-Modified":[62],"Differential":[63],"Evolution).":[64],"simulated":[66],"experimental":[68],"results":[69],"applied":[70],"on":[71],"small-sized":[73],"show":[76],"newly":[79],"offers":[82],"an":[83],"efficient":[84],"accurate":[92]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"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"}
