{"id":"https://openalex.org/W2541519055","doi":"https://doi.org/10.1109/ichr.2005.1573552","title":"Optimization based gait pattern generation for a biped robot","display_name":"Optimization based gait pattern generation for a biped robot","publication_year":2006,"publication_date":"2006-01-25","ids":{"openalex":"https://openalex.org/W2541519055","doi":"https://doi.org/10.1109/ichr.2005.1573552","mag":"2541519055"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2005.1573552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","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/A5067066595","display_name":"Thomas Buschmann","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"T. Buschmann","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023445877","display_name":"Sebastian Lohmeier","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Lohmeier","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090114501","display_name":"Heinz Ulbrich","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Ulbrich","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053250124","display_name":"Friedrich Pfeiffer","orcid":"https://orcid.org/0000-0001-5321-633X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Pfeiffer","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067066595"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":2.5942,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.89507908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"98","last_page":"103"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9900000095367432,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9606999754905701,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/trajectory","display_name":"Trajectory","score":0.7846134901046753},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7480968236923218},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.669527530670166},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6651179194450378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.655110239982605},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5335097312927246},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5088194012641907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49846696853637695},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45437806844711304},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4455467462539673},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3485022187232971},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3204922676086426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2963011860847473},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21013230085372925},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.05627700686454773},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.053480833768844604}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7846134901046753},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7480968236923218},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.669527530670166},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6651179194450378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.655110239982605},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5335097312927246},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5088194012641907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49846696853637695},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45437806844711304},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4455467462539673},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3485022187232971},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3204922676086426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2963011860847473},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21013230085372925},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.05627700686454773},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.053480833768844604},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2005.1573552","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573552","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1134115","is_oa":false,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1134115","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"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/W85449908","https://openalex.org/W1874049655","https://openalex.org/W2015046019","https://openalex.org/W2026354545","https://openalex.org/W2034133729","https://openalex.org/W2037729465","https://openalex.org/W2120526103","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2148338288","https://openalex.org/W2153314056","https://openalex.org/W2158866377","https://openalex.org/W2166162370","https://openalex.org/W2539314278","https://openalex.org/W3215381195","https://openalex.org/W6804592292"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2119925415"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,24,27,38,61],"problem":[4],"of":[5,23,31,35,40],"gait":[6],"pattern":[7],"generation":[8],"for":[9,45,60],"biped":[10],"robots.":[11],"A":[12],"method":[13,25,51],"based":[14],"on":[15],"nonlinear":[16],"parameter":[17],"optimization":[18,30],"is":[19],"proposed.":[20],"Key":[21],"features":[22],"are":[26],"trajectory":[28],"description,":[29],"only":[32],"a":[33],"subset":[34],"coordinates":[36],"and":[37,48],"use":[39],"analytical,":[41],"recursively":[42],"calculated":[43],"gradients":[44],"cost":[46],"functions":[47],"constraints.":[49],"The":[50],"has":[52],"been":[53],"used":[54],"successfully":[55],"to":[56],"calculate":[57],"walking":[58],"trajectories":[59],"3D":[62],"17-DOF":[63],"robot":[64],"\"Johnnie\"":[65]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}