{"id":"https://openalex.org/W2542830946","doi":"https://doi.org/10.1109/ichr.2004.1442694","title":"Acquisition of a biped walking pattern using a Poincare map","display_name":"Acquisition of a biped walking pattern using a Poincare map","publication_year":2005,"publication_date":"2005-07-28","ids":{"openalex":"https://openalex.org/W2542830946","doi":"https://doi.org/10.1109/ichr.2004.1442694","mag":"2542830946"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2004.1442694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","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/A5025458882","display_name":"Jun Morimoto","orcid":"https://orcid.org/0000-0002-4115-1919"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Morimoto","raw_affiliation_strings":["JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103273860","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0001-9026-6440"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"J. Nakanishi","raw_affiliation_strings":["JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021539241","display_name":"Gen Endo","orcid":"https://orcid.org/0000-0001-7958-5395"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G. Endo","raw_affiliation_strings":["JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"G. Cheng","raw_affiliation_strings":["JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"JST ATR Computational Neuroscience Labs, IGORP Computational Brain Project, Seika-cho, Kyoto, JAPAN","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.407,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.89249147,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"912","last_page":"924"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.972000002861023,"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/biped-robot","display_name":"Biped robot","score":0.8409509658813477},{"id":"https://openalex.org/keywords/poincar\u00e9-map","display_name":"Poincar\u00e9 map","score":0.7466428279876709},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.711439311504364},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6844210028648376},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6734037399291992},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4774872958660126},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47090625762939453},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.42766281962394714},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41677579283714294},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3835107684135437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.37659716606140137},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2506501078605652},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1774769425392151},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1621355414390564},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.12225809693336487},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06550246477127075}],"concepts":[{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.8409509658813477},{"id":"https://openalex.org/C21955772","wikidata":"https://www.wikidata.org/wiki/Q339199","display_name":"Poincar\u00e9 map","level":4,"score":0.7466428279876709},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.711439311504364},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6844210028648376},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6734037399291992},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4774872958660126},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47090625762939453},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.42766281962394714},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41677579283714294},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3835107684135437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.37659716606140137},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2506501078605652},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1774769425392151},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1621355414390564},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.12225809693336487},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06550246477127075},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2004.1442694","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442694","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.66.943","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.66.943","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/morimoto_jun_2004_1/morimoto_jun_2004_1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W135960858","https://openalex.org/W658381347","https://openalex.org/W1545656448","https://openalex.org/W1885639605","https://openalex.org/W1994923984","https://openalex.org/W2016102421","https://openalex.org/W2025752438","https://openalex.org/W2039091159","https://openalex.org/W2049374002","https://openalex.org/W2082872327","https://openalex.org/W2096498654","https://openalex.org/W2109910161","https://openalex.org/W2111527309","https://openalex.org/W2111999018","https://openalex.org/W2113501460","https://openalex.org/W2121863487","https://openalex.org/W2142992961","https://openalex.org/W2150714400","https://openalex.org/W2155307968","https://openalex.org/W2161427949","https://openalex.org/W2167804690","https://openalex.org/W2331734107","https://openalex.org/W2914669743","https://openalex.org/W4214717370","https://openalex.org/W4240768792","https://openalex.org/W4252510982","https://openalex.org/W4295133295","https://openalex.org/W6676801769","https://openalex.org/W7033823516"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2542830946","https://openalex.org/W2146953490","https://openalex.org/W3134342069","https://openalex.org/W2033312097","https://openalex.org/W3135443938","https://openalex.org/W4313204635","https://openalex.org/W2196194799","https://openalex.org/W2167210454","https://openalex.org/W2137547873"],"abstract_inverted_index":{"We":[0,61,76],"propose":[1],"a":[2,26,42,45,53,67],"model-based":[3],"reinforcement":[4],"learning":[5],"algorithm":[6],"for":[7],"biped":[8,74],"walking":[9,36,80],"in":[10],"which":[11],"the":[12,18,30,34,56],"robot":[13,69],"learns":[14],"to":[15,52,65],"appropriately":[16],"place":[17],"swing":[19],"leg.":[20],"This":[21],"decision":[22],"is":[23],"based":[24],"on":[25],"learned":[27],"model":[28,39,70],"of":[29,33],"Poincare":[31],"map":[32],"periodic":[35],"pattern.":[37],"The":[38],"maps":[40],"from":[41],"state":[43,54],"at":[44,55],"single":[46,58],"support":[47,59],"phase":[48],"and":[49,71],"foot":[50],"placement":[51],"next":[57],"phase.":[60],"applied":[62],"this":[63],"approach":[64],"both":[66],"simulated":[68],"an":[72],"actual":[73],"robot.":[75],"show":[77],"that":[78],"successful":[79],"patterns":[81],"are":[82],"acquired.":[83]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}