{"id":"https://openalex.org/W2018392185","doi":"https://doi.org/10.1109/icca.2010.5524190","title":"A simulation and experiment research on turning gait planning of blackmann-II humanoid robot","display_name":"A simulation and experiment research on turning gait planning of blackmann-II humanoid robot","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2018392185","doi":"https://doi.org/10.1109/icca.2010.5524190","mag":"2018392185"},"language":"en","primary_location":{"id":"doi:10.1109/icca.2010.5524190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","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/A5090545765","display_name":"Shengjun Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shengjun Peng","raw_affiliation_strings":["College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan, China","College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China"],"affiliations":[{"raw_affiliation_string":"College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050945687","display_name":"Haitao Shui","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Shui","raw_affiliation_strings":["College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan, China","College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China"],"affiliations":[{"raw_affiliation_string":"College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032729336","display_name":"Hongxu Ma","orcid":"https://orcid.org/0000-0002-4662-2986"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxu Ma","raw_affiliation_strings":["College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan, China","College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China"],"affiliations":[{"raw_affiliation_string":"College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan, China","institution_ids":["https://openalex.org/I170215575"]},{"raw_affiliation_string":"College of Electromechanical Engineering & Automation, National University of Defense Technology, Changsha, Hunan Province, CO 410073 China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5090545765"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.2111,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.57802804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"17","issue":null,"first_page":"719","last_page":"724"},"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":0.9927999973297119,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9753999710083008,"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":0.8939849138259888},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6204392910003662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5963295698165894},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5839810967445374},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5543067455291748},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5533061027526855},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5271266102790833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5140179395675659},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4885493218898773},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4712764620780945},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4487721025943756},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.42954784631729126},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4237046241760254},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36977702379226685},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3623799681663513},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3596254587173462},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3541671335697174},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.24719417095184326}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8939849138259888},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6204392910003662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5963295698165894},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5839810967445374},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5543067455291748},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5533061027526855},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5271266102790833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5140179395675659},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4885493218898773},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4712764620780945},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4487721025943756},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.42954784631729126},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4237046241760254},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36977702379226685},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3623799681663513},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3596254587173462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3541671335697174},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.24719417095184326},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icca.2010.5524190","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icca.2010.5524190","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ICCA 2010","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":13,"referenced_works":["https://openalex.org/W12965381","https://openalex.org/W25317883","https://openalex.org/W1874861438","https://openalex.org/W1917860510","https://openalex.org/W1990981983","https://openalex.org/W2001871109","https://openalex.org/W2072120054","https://openalex.org/W2107063340","https://openalex.org/W2110086617","https://openalex.org/W2114193135","https://openalex.org/W2164681577","https://openalex.org/W2495909380","https://openalex.org/W6600517022"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W2351331567","https://openalex.org/W4389401105"],"abstract_inverted_index":{"The":[0],"issue":[1],"about":[2],"turning":[3,84,120],"gait":[4,41,68,121],"planning":[5,42,69,122],"of":[6,39,56,66,83,99,107],"humanoid":[7,16,44,71,88],"robots":[8,45,72],"is":[9,22],"discussed.":[10],"Blackmann-II":[11,87],"as":[12],"a":[13],"new":[14],"generation":[15],"robot":[17,89],"developed":[18,90],"in":[19,75,91,124],"our":[20,92],"lab":[21,93],"introduced":[23],"firstly,":[24],"including":[25,53],"the":[26,37,47,64,78,97,103,108,125],"improvement":[27],"based":[28,110],"on":[29,111],"Blackmann,":[30],"dimension":[31],"parameters":[32],"and":[33,46,59,81,101,105,117],"DOF":[34],"configuration.":[35],"Then":[36],"methods":[38],"turnning":[40,67],"for":[43,70,119],"key":[48,57],"problems":[49],"involved":[50],"are":[51,73,94,127],"analyzed,":[52],"trajectory":[54],"interpolation":[55],"points":[58],"inverse":[60],"kinematics":[61],"solving.":[62],"Next":[63],"process":[65],"given":[74],"detail.":[76],"Finally,":[77],"computer":[79],"simulation":[80,100],"experiment":[82],"motion":[85],"with":[86,115],"presented.":[95],"From":[96],"result":[98],"experiment,":[102],"validation":[104],"feasibility":[106],"method":[109],"geometrical":[112],"constraints":[113],"together":[114],"modification":[116],"compensation":[118],"proposed":[123],"paper":[126],"proved.":[128]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
